fp@39: /****************************************************************************** fp@0: * fp@2150: * $Id: master.c,v afb40fd6018e 2011/09/16 12:10:23 fp $ fp@0: * fp@1326: * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH fp@197: * fp@197: * This file is part of the IgH EtherCAT Master. fp@197: * fp@1326: * The IgH EtherCAT Master is free software; you can redistribute it and/or fp@1326: * modify it under the terms of the GNU General Public License version 2, as fp@1326: * published by the Free Software Foundation. fp@1326: * fp@1326: * The IgH EtherCAT Master is distributed in the hope that it will be useful, fp@1326: * but WITHOUT ANY WARRANTY; without even the implied warranty of fp@1326: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General fp@1326: * Public License for more details. fp@1326: * fp@1326: * You should have received a copy of the GNU General Public License along fp@1326: * with the IgH EtherCAT Master; if not, write to the Free Software fp@197: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA fp@197: * fp@1363: * --- fp@1363: * fp@1363: * The license mentioned above concerns the source code only. Using the fp@1363: * EtherCAT technology and brand is only permitted in compliance with the fp@1363: * industrial property and similar rights of Beckhoff Automation GmbH. fp@246: * fp@1873: * vim: expandtab fp@1873: * fp@39: *****************************************************************************/ fp@0: fp@199: /** fp@199: \file fp@199: EtherCAT master methods. fp@199: */ fp@199: fp@199: /*****************************************************************************/ fp@199: fp@24: #include fp@0: #include fp@0: #include fp@0: #include fp@0: #include fp@1015: #include fp@1015: #include martin@1600: #include fp@54: #include "globals.h" fp@55: #include "slave.h" fp@792: #include "slave_config.h" fp@54: #include "device.h" fp@293: #include "datagram.h" fp@715: #ifdef EC_EOE fp@145: #include "ethernet.h" fp@715: #endif fp@792: #include "master.h" fp@792: fp@792: /*****************************************************************************/ fp@792: ch1010277@2039: /** Set to 1 to enable fsm datagram injection debugging. martin@1597: */ ch1010277@2037: #ifdef USE_TRACE_PRINTK ch1010277@2037: #define DEBUG_INJECT 1 ch1010277@2037: #else martin@1597: #define DEBUG_INJECT 0 ch1010277@2037: #endif martin@1597: fp@1279: #ifdef EC_HAVE_CYCLES fp@1279: fp@1279: /** Frame timeout in cycles. fp@1279: */ fp@1279: static cycles_t timeout_cycles; fp@1906: ch1010277@2022: /** Timeout for fsm datagram injection [cycles]. ch1010277@2022: */ ch1010277@2022: static cycles_t fsm_injection_timeout_cycles; fp@1906: fp@1279: #else fp@1279: fp@1279: /** Frame timeout in jiffies. fp@1279: */ fp@1279: static unsigned long timeout_jiffies; fp@1906: ch1010277@2022: /** Timeout for fsm datagram injection [jiffies]. ch1010277@2022: */ ch1010277@2022: static unsigned long fsm_injection_timeout_jiffies; martin@1585: fp@1279: #endif fp@1279: fp@1279: /*****************************************************************************/ fp@1279: fp@995: void ec_master_clear_slave_configs(ec_master_t *); fp@993: void ec_master_clear_domains(ec_master_t *); fp@1241: static int ec_master_idle_thread(void *); fp@1241: static int ec_master_operation_thread(void *); fp@715: #ifdef EC_EOE ch1010277@2020: static int ec_master_eoe_processing(ec_master_t *); fp@715: #endif fp@1425: void ec_master_find_dc_ref_clock(ec_master_t *); fp@179: fp@179: /*****************************************************************************/ fp@179: fp@1279: /** Static variables initializer. fp@1279: */ fp@1279: void ec_master_init_static(void) fp@1279: { fp@1279: #ifdef EC_HAVE_CYCLES fp@1279: timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000); ch1010277@2022: fsm_injection_timeout_cycles = (cycles_t) EC_FSM_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000); fp@1279: #else fp@1279: // one jiffy may always elapse between time measurement fp@1279: timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1); ch1010277@2022: fsm_injection_timeout_jiffies = max(EC_FSM_INJECTION_TIMEOUT * HZ / 1000000, 1); fp@1279: #endif fp@1279: } fp@1279: fp@1279: /*****************************************************************************/ fp@1279: fp@0: /** fp@195: Master constructor. fp@195: \return 0 in case of success, else < 0 fp@195: */ fp@195: fp@195: int ec_master_init(ec_master_t *master, /**< EtherCAT master */ fp@576: unsigned int index, /**< master index */ fp@639: const uint8_t *main_mac, /**< MAC address of main device */ fp@922: const uint8_t *backup_mac, /**< MAC address of backup device */ fp@1013: dev_t device_number, /**< Character device number. */ fp@1399: struct class *class, /**< Device class. */ fp@1399: unsigned int debug_level /**< Debug level (module parameter). */ fp@576: ) fp@178: { fp@1313: int ret; fp@1313: fp@178: master->index = index; fp@647: master->reserved = 0; fp@446: ch1010277@2028: ec_mutex_init(&master->master_mutex); fp@1075: fp@639: master->main_mac = main_mac; fp@639: master->backup_mac = backup_mac; martin@1579: ch1010277@2028: ec_mutex_init(&master->device_mutex); fp@446: fp@1029: master->phase = EC_ORPHANED; fp@1530: master->active = 0; fp@1925: master->config_changed = 0; fp@637: master->injection_seq_fsm = 0; fp@637: master->injection_seq_rt = 0; fp@446: fp@1000: master->slaves = NULL; fp@446: master->slave_count = 0; martin@1987: fp@792: INIT_LIST_HEAD(&master->configs); fp@792: fp@1507: master->app_time = 0ULL; martin@1987: #ifdef EC_HAVE_CYCLES ch1010277@2001: master->dc_cycles_app_start_time = 0; ch1010277@2001: #endif ch1010277@2001: master->dc_jiffies_app_start_time = 0; fp@1507: master->app_start_time = 0ULL; fp@1925: master->has_app_time = 0; fp@1408: fp@900: master->scan_busy = 0; ch1010277@2028: ec_mutex_init(&master->scan_mutex); fp@656: init_waitqueue_head(&master->scan_queue); fp@656: fp@900: master->config_busy = 0; ch1010277@2028: ec_mutex_init(&master->config_mutex); fp@656: init_waitqueue_head(&master->config_queue); fp@656: fp@293: INIT_LIST_HEAD(&master->datagram_queue); fp@446: master->datagram_index = 0; fp@446: ch1010277@2028: ec_mutex_init(&master->fsm_queue_mutex); ch1010277@2018: INIT_LIST_HEAD(&master->fsm_datagram_queue); fp@1773: fp@1773: // send interval in IDLE phase fp@1773: ec_master_set_send_interval(master, 1000000 / HZ); martin@1583: fp@95: INIT_LIST_HEAD(&master->domains); fp@792: fp@1399: master->debug_level = debug_level; fp@446: master->stats.timeouts = 0; fp@446: master->stats.corrupted = 0; fp@446: master->stats.unmatched = 0; fp@446: master->stats.output_jiffies = 0; fp@446: fp@1241: master->thread = NULL; fp@1241: fp@1041: #ifdef EC_EOE fp@1489: master->eoe_thread = NULL; fp@446: INIT_LIST_HEAD(&master->eoe_handlers); fp@715: #endif fp@446: ch1010277@2028: ec_mutex_init(&master->io_mutex); ch1010277@2024: master->fsm_queue_lock_cb = NULL; ch1010277@2024: master->fsm_queue_unlock_cb = NULL; ch1010277@2024: master->fsm_queue_locking_data = NULL; ch1010277@2024: master->app_fsm_queue_lock_cb = NULL; ch1010277@2024: master->app_fsm_queue_unlock_cb = NULL; ch1010277@2024: master->app_fsm_queue_locking_data = NULL; fp@446: fp@872: INIT_LIST_HEAD(&master->sii_requests); fp@872: init_waitqueue_head(&master->sii_queue); fp@601: fp@1388: INIT_LIST_HEAD(&master->reg_requests); fp@1388: init_waitqueue_head(&master->reg_queue); fp@1200: fp@579: // init devices fp@1313: ret = ec_device_init(&master->main_device, master); fp@1313: if (ret < 0) fp@997: goto out_return; fp@579: fp@1313: ret = ec_device_init(&master->backup_device, master); fp@1313: if (ret < 0) fp@579: goto out_clear_main; fp@579: fp@528: // init state machine datagram fp@528: ec_datagram_init(&master->fsm_datagram); fp@719: snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm"); fp@1313: ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE); fp@1313: if (ret < 0) { fp@1394: ec_datagram_clear(&master->fsm_datagram); fp@1921: EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n"); fp@659: goto out_clear_backup; fp@528: } fp@528: fp@251: // create state machine object ch1010277@2045: ec_mbox_init(&master->fsm_mbox,&master->fsm_datagram); fp@528: ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram); fp@226: fp@1396: // init reference sync datagram fp@1396: ec_datagram_init(&master->ref_sync_datagram); fp@1396: snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync"); fp@1396: ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8); fp@1396: if (ret < 0) { fp@1396: ec_datagram_clear(&master->ref_sync_datagram); fp@1921: EC_MASTER_ERR(master, "Failed to allocate reference" fp@1921: " synchronisation datagram.\n"); fp@1396: goto out_clear_fsm; fp@1396: } fp@1396: fp@1394: // init sync datagram fp@1394: ec_datagram_init(&master->sync_datagram); fp@1394: snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync"); fp@1408: ret = ec_datagram_prealloc(&master->sync_datagram, 4); fp@1394: if (ret < 0) { fp@1394: ec_datagram_clear(&master->sync_datagram); fp@1921: EC_MASTER_ERR(master, "Failed to allocate" fp@1921: " synchronisation datagram.\n"); fp@1396: goto out_clear_ref_sync; fp@1394: } fp@1535: fp@1535: // init sync monitor datagram fp@1535: ec_datagram_init(&master->sync_mon_datagram); fp@1535: snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon"); fp@1535: ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4); fp@1535: if (ret < 0) { fp@1535: ec_datagram_clear(&master->sync_mon_datagram); fp@1921: EC_MASTER_ERR(master, "Failed to allocate sync" fp@1921: " monitoring datagram.\n"); fp@1535: goto out_clear_sync; fp@1535: } fp@1535: fp@1507: ec_master_find_dc_ref_clock(master); fp@1394: fp@997: // init character device fp@1313: ret = ec_cdev_init(&master->cdev, master, device_number); fp@1313: if (ret) fp@1535: goto out_clear_sync_mon; fp@1013: fp@1369: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27) fp@1369: master->class_device = device_create(class, NULL, fp@1369: MKDEV(MAJOR(device_number), master->index), NULL, fp@1369: "EtherCAT%u", master->index); fp@1369: #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26) fp@1250: master->class_device = device_create(class, NULL, fp@1250: MKDEV(MAJOR(device_number), master->index), fp@1250: "EtherCAT%u", master->index); fp@1250: #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15) fp@1250: master->class_device = class_device_create(class, NULL, fp@1369: MKDEV(MAJOR(device_number), master->index), NULL, fp@1369: "EtherCAT%u", master->index); fp@1015: #else fp@1250: master->class_device = class_device_create(class, fp@1369: MKDEV(MAJOR(device_number), master->index), NULL, fp@1369: "EtherCAT%u", master->index); fp@1015: #endif fp@1013: if (IS_ERR(master->class_device)) { fp@1921: EC_MASTER_ERR(master, "Failed to create class device!\n"); fp@1313: ret = PTR_ERR(master->class_device); fp@1013: goto out_clear_cdev; fp@1013: } fp@144: fp@178: return 0; fp@226: fp@1013: out_clear_cdev: fp@1013: ec_cdev_clear(&master->cdev); fp@1535: out_clear_sync_mon: fp@1535: ec_datagram_clear(&master->sync_mon_datagram); fp@1394: out_clear_sync: fp@1394: ec_datagram_clear(&master->sync_datagram); fp@1396: out_clear_ref_sync: fp@1396: ec_datagram_clear(&master->ref_sync_datagram); fp@659: out_clear_fsm: fp@659: ec_fsm_master_clear(&master->fsm); fp@997: ec_datagram_clear(&master->fsm_datagram); fp@659: out_clear_backup: fp@579: ec_device_clear(&master->backup_device); fp@579: out_clear_main: fp@579: ec_device_clear(&master->main_device); fp@579: out_return: fp@1313: return ret; fp@0: } fp@0: fp@39: /*****************************************************************************/ fp@0: fp@997: /** Destructor. fp@195: */ fp@639: void ec_master_clear( fp@639: ec_master_t *master /**< EtherCAT master */ fp@639: ) fp@639: { fp@1250: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26) fp@1250: device_unregister(master->class_device); fp@1250: #else fp@1013: class_device_unregister(master->class_device); fp@1250: #endif fp@1394: fp@995: ec_cdev_clear(&master->cdev); ch1010277@2045: fp@715: #ifdef EC_EOE fp@661: ec_master_clear_eoe_handlers(master); fp@715: #endif fp@994: ec_master_clear_domains(master); fp@995: ec_master_clear_slave_configs(master); fp@992: ec_master_clear_slaves(master); fp@1394: fp@1535: ec_datagram_clear(&master->sync_mon_datagram); fp@1394: ec_datagram_clear(&master->sync_datagram); fp@1396: ec_datagram_clear(&master->ref_sync_datagram); fp@528: ec_fsm_master_clear(&master->fsm); ch1010277@2045: ec_mbox_clear(&master->fsm_mbox); fp@528: ec_datagram_clear(&master->fsm_datagram); fp@661: ec_device_clear(&master->backup_device); fp@661: ec_device_clear(&master->main_device); fp@661: } fp@661: fp@661: /*****************************************************************************/ fp@661: fp@715: #ifdef EC_EOE fp@792: /** Clear and free all EoE handlers. fp@661: */ fp@661: void ec_master_clear_eoe_handlers( fp@661: ec_master_t *master /**< EtherCAT master */ fp@661: ) fp@661: { fp@661: ec_eoe_t *eoe, *next; fp@661: fp@661: list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) { fp@251: list_del(&eoe->list); fp@251: ec_eoe_clear(eoe); fp@251: kfree(eoe); fp@251: } fp@73: } fp@715: #endif fp@73: fp@73: /*****************************************************************************/ fp@73: fp@995: /** Clear all slave configurations. fp@792: */ fp@995: void ec_master_clear_slave_configs(ec_master_t *master) fp@792: { fp@792: ec_slave_config_t *sc, *next; fp@792: fp@792: list_for_each_entry_safe(sc, next, &master->configs, list) { fp@792: list_del(&sc->list); fp@995: ec_slave_config_clear(sc); fp@995: kfree(sc); fp@792: } fp@792: } fp@792: fp@792: /*****************************************************************************/ fp@792: fp@997: /** Clear all slaves. fp@792: */ fp@992: void ec_master_clear_slaves(ec_master_t *master) fp@238: { fp@1000: ec_slave_t *slave; fp@1000: fp@1425: master->dc_ref_clock = NULL; fp@1425: fp@1538: // external requests are obsolete, so we wake pending waiters and remove fp@1538: // them from the list fp@1921: fp@1921: while (!list_empty(&master->sii_requests)) { fp@1921: ec_sii_write_request_t *request = fp@1921: list_entry(master->sii_requests.next, fp@1921: ec_sii_write_request_t, list); fp@1773: list_del_init(&request->list); // dequeue fp@1921: EC_MASTER_WARN(master, "Discarding SII request, slave %u about" fp@1921: " to be deleted.\n", request->slave->ring_position); fp@1773: request->state = EC_INT_REQUEST_FAILURE; ch1010277@2030: kref_put(&request->refcount,ec_master_sii_write_request_release); fp@1773: wake_up(&master->sii_queue); fp@1773: } fp@1773: fp@1921: while (!list_empty(&master->reg_requests)) { fp@1921: ec_reg_request_t *request = fp@1921: list_entry(master->reg_requests.next, ec_reg_request_t, list); fp@1773: list_del_init(&request->list); // dequeue fp@1921: EC_MASTER_WARN(master, "Discarding register request, slave %u" fp@1921: " about to be deleted.\n", request->slave->ring_position); fp@1773: request->state = EC_INT_REQUEST_FAILURE; ch1010277@2031: kref_put(&request->refcount,ec_master_reg_request_release); fp@1773: wake_up(&master->reg_queue); fp@1773: } fp@1538: fp@2107: // we must lock the io_mutex here because the slave's fsm_datagram fp@2107: // will be unqueued ch1010277@2040: ec_mutex_lock(&master->io_mutex); fp@1000: for (slave = master->slaves; fp@1000: slave < master->slaves + master->slave_count; fp@1000: slave++) { fp@992: ec_slave_clear(slave); fp@1004: } ch1010277@2040: ec_mutex_unlock(&master->io_mutex); fp@1004: fp@1004: if (master->slaves) { fp@1000: kfree(master->slaves); fp@1000: master->slaves = NULL; fp@1004: } fp@1004: fp@1004: master->slave_count = 0; fp@74: } fp@74: fp@74: /*****************************************************************************/ fp@74: fp@997: /** Clear all domains. fp@997: */ fp@993: void ec_master_clear_domains(ec_master_t *master) fp@448: { fp@792: ec_domain_t *domain, *next; fp@792: fp@2107: // we must lock the io_mutex here because the domains's datagram fp@2107: // will be unqueued ch1010277@2040: ec_mutex_lock(&master->io_mutex); fp@792: list_for_each_entry_safe(domain, next, &master->domains, list) { fp@448: list_del(&domain->list); fp@993: ec_domain_clear(domain); fp@993: kfree(domain); fp@448: } ch1010277@2040: ec_mutex_unlock(&master->io_mutex); fp@448: } fp@448: fp@448: /*****************************************************************************/ fp@448: fp@1939: /** Clear the configuration applied by the application. fp@1939: */ fp@1939: void ec_master_clear_config( fp@1939: ec_master_t *master /**< EtherCAT master. */ fp@1939: ) fp@1939: { ch1010277@2028: ec_mutex_lock(&master->master_mutex); fp@1939: ec_master_clear_domains(master); fp@1939: ec_master_clear_slave_configs(master); ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1939: } fp@1939: fp@1939: /*****************************************************************************/ fp@1939: fp@997: /** Starts the master thread. fp@1313: * fp@1313: * \retval 0 Success. fp@1313: * \retval <0 Error code. fp@997: */ fp@656: int ec_master_thread_start( fp@656: ec_master_t *master, /**< EtherCAT master */ fp@1241: int (*thread_func)(void *), /**< thread function to start */ fp@1241: const char *name /**< Thread name. */ fp@656: ) fp@656: { fp@1921: EC_MASTER_INFO(master, "Starting %s thread.\n", name); fp@1241: master->thread = kthread_run(thread_func, master, name); fp@1241: if (IS_ERR(master->thread)) { fp@1313: int err = (int) PTR_ERR(master->thread); fp@1921: EC_MASTER_ERR(master, "Failed to start master thread (error %i)!\n", fp@1921: err); fp@1241: master->thread = NULL; fp@1313: return err; fp@1241: } fp@525: fp@525: return 0; fp@525: } fp@525: fp@525: /*****************************************************************************/ fp@525: fp@997: /** Stops the master thread. fp@997: */ fp@1029: void ec_master_thread_stop( fp@1029: ec_master_t *master /**< EtherCAT master */ fp@1029: ) fp@525: { fp@1040: unsigned long sleep_jiffies; fp@1040: fp@1241: if (!master->thread) { fp@1921: EC_MASTER_WARN(master, "%s(): Already finished!\n", __func__); fp@656: return; fp@656: } fp@656: fp@1921: EC_MASTER_DBG(master, 1, "Stopping master thread.\n"); fp@1006: fp@1241: kthread_stop(master->thread); fp@1241: master->thread = NULL; fp@1921: EC_MASTER_INFO(master, "Master thread exited.\n"); fp@656: fp@1198: if (master->fsm_datagram.state != EC_DATAGRAM_SENT) fp@1198: return; fp@656: fp@656: // wait for FSM datagram fp@1040: sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy fp@1040: schedule_timeout(sleep_jiffies); fp@525: } fp@525: fp@525: /*****************************************************************************/ fp@525: fp@1029: /** Transition function from ORPHANED to IDLE phase. fp@1029: */ fp@1029: int ec_master_enter_idle_phase( fp@1029: ec_master_t *master /**< EtherCAT master */ fp@1029: ) fp@446: { fp@1313: int ret; fp@1313: fp@1921: EC_MASTER_DBG(master, 1, "ORPHANED -> IDLE.\n"); fp@1075: ch1010277@2024: master->fsm_queue_lock_cb = NULL; ch1010277@2024: master->fsm_queue_unlock_cb = NULL; ch1010277@2024: master->fsm_queue_locking_data = NULL; fp@637: fp@1029: master->phase = EC_IDLE; fp@1313: ret = ec_master_thread_start(master, ec_master_idle_thread, fp@1313: "EtherCAT-IDLE"); fp@1313: if (ret) fp@1029: master->phase = EC_ORPHANED; fp@1313: fp@1313: return ret; fp@446: } fp@446: fp@446: /*****************************************************************************/ fp@446: fp@1029: /** Transition function from IDLE to ORPHANED phase. fp@1029: */ fp@1029: void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */) fp@446: { fp@1921: EC_MASTER_DBG(master, 1, "IDLE -> ORPHANED.\n"); fp@1006: fp@1029: master->phase = EC_ORPHANED; fp@525: fp@525: ec_master_thread_stop(master); fp@1075: ch1010277@2028: ec_mutex_lock(&master->master_mutex); fp@992: ec_master_clear_slaves(master); ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@446: } fp@446: fp@446: /*****************************************************************************/ fp@446: fp@1029: /** Transition function from IDLE to OPERATION phase. fp@1029: */ fp@2110: int ec_master_enter_operation_phase( fp@2107: ec_master_t *master /**< EtherCAT master */ fp@2107: ) fp@446: { fp@1313: int ret = 0; fp@446: ec_slave_t *slave; fp@715: #ifdef EC_EOE fp@661: ec_eoe_t *eoe; fp@715: #endif fp@446: fp@1921: EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n"); fp@1006: ch1010277@2028: ec_mutex_lock(&master->config_mutex); fp@900: if (master->config_busy) { ch1010277@2028: ec_mutex_unlock(&master->config_mutex); fp@900: fp@900: // wait for slave configuration to complete fp@1313: ret = wait_event_interruptible(master->config_queue, fp@1313: !master->config_busy); fp@1313: if (ret) { fp@1921: EC_MASTER_INFO(master, "Finishing slave configuration" fp@1921: " interrupted by signal.\n"); fp@900: goto out_allow; fp@900: } fp@900: fp@1921: EC_MASTER_DBG(master, 1, "Waiting for pending slave" fp@1921: " configuration returned.\n"); fp@900: } else { ch1010277@2028: ec_mutex_unlock(&master->config_mutex); ch1010277@2028: } ch1010277@2028: ch1010277@2028: ec_mutex_lock(&master->scan_mutex); fp@656: master->allow_scan = 0; // 'lock' the slave list fp@900: if (!master->scan_busy) { ch1010277@2028: ec_mutex_unlock(&master->scan_mutex); fp@900: } else { ch1010277@2028: ec_mutex_unlock(&master->scan_mutex); fp@900: fp@794: // wait for slave scan to complete fp@1313: ret = wait_event_interruptible(master->scan_queue, !master->scan_busy); fp@1313: if (ret) { fp@1921: EC_MASTER_INFO(master, "Waiting for slave scan" fp@1921: " interrupted by signal.\n"); fp@794: goto out_allow; fp@794: } fp@900: fp@1921: EC_MASTER_DBG(master, 1, "Waiting for pending" fp@1921: " slave scan returned.\n"); fp@900: } fp@656: fp@656: // set states for all slaves fp@1000: for (slave = master->slaves; fp@1000: slave < master->slaves + master->slave_count; fp@1000: slave++) { fp@643: ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); fp@446: } fp@1451: fp@715: #ifdef EC_EOE fp@661: // ... but set EoE slaves to OP fp@661: list_for_each_entry(eoe, &master->eoe_handlers, list) { fp@661: if (ec_eoe_is_open(eoe)) fp@661: ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP); fp@661: } fp@715: #endif fp@446: fp@1029: master->phase = EC_OPERATION; ch1010277@2024: master->app_fsm_queue_lock_cb = NULL; ch1010277@2024: master->app_fsm_queue_unlock_cb = NULL; ch1010277@2024: master->app_fsm_queue_locking_data = NULL; fp@1313: return ret; fp@656: fp@656: out_allow: fp@656: master->allow_scan = 1; fp@1313: return ret; fp@446: } fp@446: fp@446: /*****************************************************************************/ fp@446: fp@1029: /** Transition function from OPERATION to IDLE phase. fp@1029: */ fp@1530: void ec_master_leave_operation_phase( fp@1530: ec_master_t *master /**< EtherCAT master */ fp@1530: ) fp@1530: { fp@1939: if (master->active) { fp@1939: ecrt_master_deactivate(master); // also clears config fp@1939: } else { fp@1939: ec_master_clear_config(master); fp@1939: } fp@656: fp@1921: EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n"); fp@1006: fp@1029: master->phase = EC_IDLE; fp@446: } fp@446: martin@1583: /*****************************************************************************/ martin@1583: ch1010277@2018: /** Injects fsm datagrams that fit into the datagram queue. ch1010277@2018: */ ch1010277@2018: void ec_master_inject_fsm_datagrams( fp@1773: ec_master_t *master /**< EtherCAT master */ fp@1773: ) fp@1773: { ch1010277@2039: ec_datagram_t *datagram, *next; fp@1773: size_t queue_size = 0; fp@1774: fp@2094: if (master->fsm_queue_lock_cb) { ch1010277@2024: master->fsm_queue_lock_cb(master->fsm_queue_locking_data); fp@2094: } fp@2094: ch1010277@2038: if (ec_mutex_trylock(&master->fsm_queue_mutex) == 0) { fp@2094: goto unlock_cb; fp@2094: } fp@2094: ch1010277@2018: if (list_empty(&master->fsm_datagram_queue)) { fp@2094: goto unlock; fp@2094: } fp@2094: fp@1773: list_for_each_entry(datagram, &master->datagram_queue, queue) { fp@1773: queue_size += datagram->data_size; fp@1773: } fp@1774: ch1010277@2039: list_for_each_entry_safe(datagram, next, &master->fsm_datagram_queue, ch1010277@2038: fsm_queue) { fp@1773: queue_size += datagram->data_size; fp@1773: if (queue_size <= master->max_queue_size) { ch1010277@2038: list_del_init(&datagram->fsm_queue); martin@1597: #if DEBUG_INJECT ch1010277@2037: EC_MASTER_DBG(master, 2, "Injecting fsm datagram %p" ch1010277@2018: " size=%zu, queue_size=%zu\n", datagram, fp@1921: datagram->data_size, queue_size); martin@1597: #endif martin@1585: #ifdef EC_HAVE_CYCLES fp@1773: datagram->cycles_sent = 0; fp@1773: #endif fp@2094: datagram->jiffies_sent = 0; // FIXME why? fp@1773: ec_master_queue_datagram(master, datagram); fp@2094: } else { fp@1773: if (datagram->data_size > master->max_queue_size) { ch1010277@2038: list_del_init(&datagram->fsm_queue); fp@1773: datagram->state = EC_DATAGRAM_ERROR; ch1010277@2018: EC_MASTER_ERR(master, "Fsm datagram %p is too large," fp@1930: " size=%zu, max_queue_size=%zu\n", fp@1774: datagram, datagram->data_size, fp@1774: master->max_queue_size); fp@1774: } else { martin@1585: #ifdef EC_HAVE_CYCLES fp@1773: cycles_t cycles_now = get_cycles(); fp@1774: fp@1773: if (cycles_now - datagram->cycles_sent ch1010277@2022: > fsm_injection_timeout_cycles) martin@1585: #else fp@1774: if (jiffies - datagram->jiffies_sent ch1010277@2022: > fsm_injection_timeout_jiffies) fp@1774: #endif fp@1774: { fp@1774: unsigned int time_us; fp@1774: ch1010277@2038: list_del_init(&datagram->fsm_queue); fp@1774: datagram->state = EC_DATAGRAM_ERROR; martin@1585: #ifdef EC_HAVE_CYCLES fp@1774: time_us = (unsigned int) fp@1774: ((cycles_now - datagram->cycles_sent) * 1000LL) fp@1774: / cpu_khz; martin@1585: #else fp@1774: time_us = (unsigned int) fp@1774: ((jiffies - datagram->jiffies_sent) * 1000000 / HZ); fp@1774: #endif fp@1921: EC_MASTER_ERR(master, "Timeout %u us: Injecting" ch1010277@2018: " fsm datagram %p size=%zu," fp@1930: " max_queue_size=%zu\n", time_us, datagram, fp@1774: datagram->data_size, master->max_queue_size); fp@1774: } martin@1597: #if DEBUG_INJECT fp@1921: else { ch1010277@2037: EC_MASTER_DBG(master, 2, "Deferred injecting" ch1010277@2018: " of fsm datagram %p" ch1010277@2018: " size=%zu, queue_size=%zu\n", fp@1774: datagram, datagram->data_size, queue_size); fp@1773: } fp@1774: #endif fp@1773: } fp@1773: } fp@1773: } fp@2094: fp@2094: unlock: ch1010277@2028: ec_mutex_unlock(&master->fsm_queue_mutex); fp@2094: unlock_cb: fp@2094: if (master->fsm_queue_unlock_cb) { ch1010277@2024: master->fsm_queue_unlock_cb(master->fsm_queue_locking_data); fp@2094: } fp@1774: } fp@1774: fp@1774: /*****************************************************************************/ fp@1774: fp@1774: /** Sets the expected interval between calls to ecrt_master_send fp@1774: * and calculates the maximum amount of data to queue. fp@1774: */ fp@1774: void ec_master_set_send_interval( fp@1774: ec_master_t *master, /**< EtherCAT master */ fp@1930: unsigned int send_interval /**< Send interval */ fp@1774: ) fp@1774: { fp@1774: master->send_interval = send_interval; fp@1774: master->max_queue_size = fp@1774: (send_interval * 1000) / EC_BYTE_TRANSMISSION_TIME_NS; fp@1774: master->max_queue_size -= master->max_queue_size / 10; fp@1774: } martin@1583: martin@1583: /*****************************************************************************/ martin@1583: fp@2094: /** Places an request (SDO/FoE/SoE/EoE) fsm datagram in the sdo datagram fp@2094: * queue. ch1010277@2018: */ ch1010277@2018: void ec_master_queue_request_fsm_datagram( martin@1583: ec_master_t *master, /**< EtherCAT master */ martin@1583: ec_datagram_t *datagram /**< datagram */ martin@1583: ) martin@1583: { fp@2094: ec_master_queue_fsm_datagram(master, datagram); fp@2094: master->fsm.idle = 0; // pump the bus as fast as possible ch1010277@2018: } ch1010277@2018: ch1010277@2018: /*****************************************************************************/ ch1010277@2018: ch1010277@2018: /** Places an fsm datagram in the sdo datagram queue. ch1010277@2018: */ ch1010277@2018: void ec_master_queue_fsm_datagram( ch1010277@2018: ec_master_t *master, /**< EtherCAT master */ ch1010277@2018: ec_datagram_t *datagram /**< datagram */ ch1010277@2018: ) ch1010277@2018: { fp@1804: ec_datagram_t *queued_datagram; martin@1600: fp@2094: if (master->fsm_queue_lock_cb) { ch1010277@2024: master->fsm_queue_lock_cb(master->fsm_queue_locking_data); fp@2094: } ch1010277@2028: ec_mutex_lock(&master->fsm_queue_mutex); fp@1774: fp@1804: // check, if the datagram is already queued ch1010277@2018: list_for_each_entry(queued_datagram, &master->fsm_datagram_queue, ch1010277@2038: fsm_queue) { fp@1804: if (queued_datagram == datagram) { fp@1804: datagram->state = EC_DATAGRAM_QUEUED; fp@2094: goto unlock; fp@1804: } fp@1804: } fp@1774: martin@1597: #if DEBUG_INJECT ch1010277@2037: EC_MASTER_DBG(master, 2, "Requesting fsm datagram %p size=%zu\n", fp@1921: datagram, datagram->data_size); fp@1804: #endif fp@1804: ch1010277@2038: list_add_tail(&datagram->fsm_queue, &master->fsm_datagram_queue); fp@1804: datagram->state = EC_DATAGRAM_QUEUED; martin@1585: #ifdef EC_HAVE_CYCLES fp@1804: datagram->cycles_sent = get_cycles(); fp@1804: #endif fp@2094: datagram->jiffies_sent = jiffies; // FIXME why? fp@2094: fp@2094: unlock: ch1010277@2028: ec_mutex_unlock(&master->fsm_queue_mutex); fp@2094: if (master->fsm_queue_unlock_cb) { ch1010277@2024: master->fsm_queue_unlock_cb(master->fsm_queue_locking_data); fp@2094: } martin@1583: } martin@1583: fp@446: /*****************************************************************************/ fp@446: fp@997: /** Places a datagram in the datagram queue. fp@997: */ fp@1500: void ec_master_queue_datagram( fp@1500: ec_master_t *master, /**< EtherCAT master */ fp@1500: ec_datagram_t *datagram /**< datagram */ fp@1500: ) fp@293: { fp@2084: ec_datagram_t *queued_datagram; fp@2084: fp@2084: /* It is possible, that a datagram in the queue is re-initialized with the fp@2084: * ec_datagram_() methods and then shall be queued with this method. fp@2084: * In that case, the state is already reset to EC_DATAGRAM_INIT. Check if fp@2084: * the datagram is queued to avoid duplicate queuing (which results in an fp@2084: * infinite loop!). Set the state to EC_DATAGRAM_QUEUED again, probably fp@2084: * causing an unmatched datagram. */ fp@2084: list_for_each_entry(queued_datagram, &master->datagram_queue, queue) { fp@2084: if (queued_datagram == datagram) { fp@2084: datagram->skip_count++; fp@2095: if (master->debug_level) { fp@2095: EC_MASTER_DBG(master, 1, "Skipping datagram %p (", datagram); fp@2095: ec_datagram_output_info(datagram); fp@2095: printk(")\n"); fp@2095: } fp@2095: goto queued; fp@2084: } fp@2084: } fp@2084: fp@2084: list_add_tail(&datagram->queue, &master->datagram_queue); fp@2095: queued: fp@2084: datagram->state = EC_DATAGRAM_QUEUED; fp@2084: } fp@1500: fp@1500: /*****************************************************************************/ fp@1500: fp@997: /** Sends the datagrams in the queue. fp@997: * fp@997: */ fp@293: void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */) fp@293: { fp@398: ec_datagram_t *datagram, *next; fp@1804: size_t datagram_size; martin@1981: uint8_t *frame_data, *cur_data, *frame_datagram_data; fp@98: void *follows_word; fp@1040: #ifdef EC_HAVE_CYCLES fp@398: cycles_t cycles_start, cycles_sent, cycles_end; fp@1040: #endif fp@398: unsigned long jiffies_sent; fp@293: unsigned int frame_count, more_datagrams_waiting; fp@398: struct list_head sent_datagrams; martin@1981: ec_fmmu_config_t* domain_fmmu; fp@398: fp@1040: #ifdef EC_HAVE_CYCLES fp@398: cycles_start = get_cycles(); fp@1040: #endif fp@176: frame_count = 0; fp@398: INIT_LIST_HEAD(&sent_datagrams); fp@208: fp@1921: EC_MASTER_DBG(master, 2, "ec_master_send_datagrams\n"); fp@98: fp@176: do { fp@195: // fetch pointer to transmit socket buffer fp@579: frame_data = ec_device_tx_data(&master->main_device); fp@176: cur_data = frame_data + EC_FRAME_HEADER_SIZE; fp@176: follows_word = NULL; fp@293: more_datagrams_waiting = 0; fp@293: fp@293: // fill current frame with datagrams fp@293: list_for_each_entry(datagram, &master->datagram_queue, queue) { fp@325: if (datagram->state != EC_DATAGRAM_QUEUED) continue; fp@293: fp@293: // does the current datagram fit in the frame? fp@293: datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size fp@293: + EC_DATAGRAM_FOOTER_SIZE; fp@293: if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) { fp@293: more_datagrams_waiting = 1; fp@176: break; fp@176: } fp@176: fp@398: list_add_tail(&datagram->sent, &sent_datagrams); fp@293: datagram->index = master->datagram_index++; fp@176: fp@2094: EC_MASTER_DBG(master, 2, "Adding datagram %p i=0x%02X size=%zu\n", fp@2095: datagram, datagram->index, datagram_size); fp@293: fp@293: // set "datagram following" flag in previous frame fp@2094: if (follows_word) { fp@2094: EC_WRITE_U16(follows_word, fp@2094: EC_READ_U16(follows_word) | 0x8000); fp@2094: } fp@176: fp@293: // EtherCAT datagram header fp@293: EC_WRITE_U8 (cur_data, datagram->type); fp@293: EC_WRITE_U8 (cur_data + 1, datagram->index); fp@708: memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN); fp@293: EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF); fp@176: EC_WRITE_U16(cur_data + 8, 0x0000); fp@176: follows_word = cur_data + 6; fp@293: cur_data += EC_DATAGRAM_HEADER_SIZE; fp@293: fp@293: // EtherCAT datagram data martin@1981: frame_datagram_data = cur_data; fp@2103: fp@2103: // distinguish between domain and non-domain datagrams... fp@2103: // this is not nice... FIXME martin@1981: if (datagram->domain) { fp@2094: unsigned int datagram_address = fp@2094: EC_READ_U32(datagram->address); martin@1981: int i = 0; martin@1981: uint8_t *domain_data = datagram->data; fp@2103: fp@2103: // FIXME all FMMU configs are taken into acount, fp@2103: // maybe the belong to another datagram? fp@2103: // test with large process data! fp@2103: fp@2094: list_for_each_entry(domain_fmmu, fp@2094: &datagram->domain->fmmu_configs, list) { fp@2103: if (domain_fmmu->dir == EC_DIR_OUTPUT) { fp@2094: unsigned int frame_offset = fp@2094: domain_fmmu->logical_start_address fp@2094: - datagram_address; fp@2103: memcpy(frame_datagram_data + frame_offset, fp@2103: domain_data, domain_fmmu->data_size); martin@1981: if (unlikely(master->debug_level > 1)) { fp@2103: EC_MASTER_DBG(master, 0, "Sending datagram %p" fp@2103: " i=0x%02X FMMU %u fp=%u" fp@2094: " dp=%zu size=%u\n", fp@2103: datagram, datagram->index, i, frame_offset, fp@2094: domain_data - datagram->data, fp@2094: domain_fmmu->data_size); fp@2094: ec_print_data(domain_data, fp@2094: domain_fmmu->data_size); martin@1981: } martin@1981: } martin@1981: domain_data += domain_fmmu->data_size; fp@2103: i++; martin@1981: } fp@2094: } else { fp@2094: memcpy(frame_datagram_data, datagram->data, fp@2094: datagram->data_size); martin@1981: } fp@293: cur_data += datagram->data_size; fp@293: fp@293: // EtherCAT datagram footer fp@195: EC_WRITE_U16(cur_data, 0x0000); // reset working counter fp@293: cur_data += EC_DATAGRAM_FOOTER_SIZE; fp@176: } fp@176: fp@398: if (list_empty(&sent_datagrams)) { fp@1921: EC_MASTER_DBG(master, 2, "nothing to send.\n"); fp@176: break; fp@176: } fp@176: fp@176: // EtherCAT frame header fp@176: EC_WRITE_U16(frame_data, ((cur_data - frame_data fp@176: - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000); fp@176: fp@195: // pad frame fp@211: while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN) fp@176: EC_WRITE_U8(cur_data++, 0x00); fp@98: fp@1921: EC_MASTER_DBG(master, 2, "frame size: %zu\n", cur_data - frame_data); fp@176: fp@195: // send frame fp@579: ec_device_send(&master->main_device, cur_data - frame_data); fp@1040: #ifdef EC_HAVE_CYCLES fp@398: cycles_sent = get_cycles(); fp@1040: #endif fp@398: jiffies_sent = jiffies; fp@398: fp@398: // set datagram states and sending timestamps fp@398: list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) { fp@398: datagram->state = EC_DATAGRAM_SENT; fp@1040: #ifdef EC_HAVE_CYCLES fp@398: datagram->cycles_sent = cycles_sent; fp@1040: #endif fp@398: datagram->jiffies_sent = jiffies_sent; fp@398: list_del_init(&datagram->sent); // empty list of sent datagrams fp@398: } fp@398: fp@176: frame_count++; fp@176: } fp@293: while (more_datagrams_waiting); fp@98: fp@1040: #ifdef EC_HAVE_CYCLES fp@303: if (unlikely(master->debug_level > 1)) { fp@344: cycles_end = get_cycles(); fp@1921: EC_MASTER_DBG(master, 0, "ec_master_send_datagrams" fp@1921: " sent %u frames in %uus.\n", frame_count, fp@344: (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz); fp@176: } fp@1040: #endif fp@176: } fp@176: fp@176: /*****************************************************************************/ fp@176: fp@997: /** Processes a received frame. fp@997: * fp@997: * This function is called by the network driver for every received frame. fp@997: * fp@997: * \return 0 in case of success, else < 0 fp@997: */ fp@2103: void ec_master_receive_datagrams( fp@2103: ec_master_t *master, /**< EtherCAT master */ fp@2103: const uint8_t *frame_data, /**< Frame data */ fp@2103: size_t size /**< Size of the received data */ fp@2103: ) fp@98: { fp@98: size_t frame_size, data_size; fp@293: uint8_t datagram_type, datagram_index; fp@2103: unsigned int datagram_follows, matched; martin@1981: const uint8_t *cur_data, *frame_datagram_data; fp@293: ec_datagram_t *datagram; martin@1981: ec_fmmu_config_t* domain_fmmu; fp@98: fp@98: if (unlikely(size < EC_FRAME_HEADER_SIZE)) { fp@1303: if (master->debug_level) { fp@1921: EC_MASTER_DBG(master, 0, "Corrupted frame received" fp@1921: " (size %zu < %u byte):\n", fp@1303: size, EC_FRAME_HEADER_SIZE); fp@1303: ec_print_data(frame_data, size); fp@1303: } fp@98: master->stats.corrupted++; fp@98: ec_master_output_stats(master); fp@98: return; fp@98: } fp@98: fp@98: cur_data = frame_data; fp@98: fp@195: // check length of entire frame fp@98: frame_size = EC_READ_U16(cur_data) & 0x07FF; fp@98: cur_data += EC_FRAME_HEADER_SIZE; fp@98: fp@98: if (unlikely(frame_size > size)) { fp@1303: if (master->debug_level) { fp@1921: EC_MASTER_DBG(master, 0, "Corrupted frame received" fp@1921: " (invalid frame size %zu for " fp@1543: "received size %zu):\n", frame_size, size); fp@1303: ec_print_data(frame_data, size); fp@1303: } fp@98: master->stats.corrupted++; fp@98: ec_master_output_stats(master); fp@98: return; fp@98: } fp@98: fp@2103: datagram_follows = 1; fp@2103: fp@2103: while (datagram_follows) { fp@2103: fp@293: // process datagram header fp@2103: datagram_type = EC_READ_U8(cur_data); fp@2103: datagram_index = EC_READ_U8(cur_data + 1); fp@2103: data_size = EC_READ_U16(cur_data + 6) & 0x07FF; fp@2103: datagram_follows = EC_READ_U16(cur_data + 6) & 0x8000; fp@293: cur_data += EC_DATAGRAM_HEADER_SIZE; fp@98: fp@98: if (unlikely(cur_data - frame_data fp@293: + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) { fp@1303: if (master->debug_level) { fp@1921: EC_MASTER_DBG(master, 0, "Corrupted frame received" fp@1921: " (invalid data size %zu):\n", data_size); fp@1303: ec_print_data(frame_data, size); fp@1303: } fp@98: master->stats.corrupted++; fp@98: ec_master_output_stats(master); fp@98: return; fp@98: } fp@98: fp@293: // search for matching datagram in the queue fp@98: matched = 0; fp@293: list_for_each_entry(datagram, &master->datagram_queue, queue) { fp@690: if (datagram->index == datagram_index fp@690: && datagram->state == EC_DATAGRAM_SENT fp@293: && datagram->type == datagram_type fp@293: && datagram->data_size == data_size) { fp@98: matched = 1; fp@98: break; fp@98: } fp@98: } fp@98: fp@293: // no matching datagram was found fp@98: if (!matched) { fp@98: master->stats.unmatched++; fp@98: ec_master_output_stats(master); fp@684: fp@684: if (unlikely(master->debug_level > 0)) { fp@1921: EC_MASTER_DBG(master, 0, "UNMATCHED datagram:\n"); fp@684: ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE, fp@684: EC_DATAGRAM_HEADER_SIZE + data_size fp@684: + EC_DATAGRAM_FOOTER_SIZE); fp@692: #ifdef EC_DEBUG_RING fp@692: ec_device_debug_ring_print(&master->main_device); fp@692: #endif fp@684: } fp@684: fp@293: cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE; fp@98: continue; fp@98: } fp@2103: martin@1981: frame_datagram_data = cur_data; fp@2094: fp@2103: // distinguish between domain and non-domain datagrams fp@2103: // this is not nice FIXME martin@1981: if (datagram->domain) { martin@1981: size_t datagram_address = EC_READ_U32(datagram->address); martin@1981: int i = 0; martin@1981: uint8_t *domain_data = datagram->data; fp@2094: fp@2103: // FIXME see ecrt_master_send_datagrams() fp@2103: // it is not correct to walk though *all* FMMU configs, fp@2103: // because they may not all belong to the same frame! fp@2103: fp@2094: list_for_each_entry(domain_fmmu, &datagram->domain->fmmu_configs, fp@2094: list) { fp@2094: if (domain_fmmu->dir == EC_DIR_INPUT) { fp@2094: unsigned int frame_offset = fp@2094: domain_fmmu->logical_start_address - datagram_address; fp@2094: memcpy(domain_data, frame_datagram_data + frame_offset, fp@2094: domain_fmmu->data_size); martin@1981: if (unlikely(master->debug_level > 1)) { fp@2103: EC_MASTER_DBG(master, 0, "Receiving datagram %p" fp@2103: " i=0x%02X fmmu %u fp=%u" fp@2094: " dp=%zu size=%u\n", fp@2094: datagram, datagram->index, i, fp@2094: frame_offset, domain_data - datagram->data, fp@2094: domain_fmmu->data_size); martin@1981: ec_print_data(domain_data, domain_fmmu->data_size); martin@1981: } martin@1981: } martin@1981: domain_data += domain_fmmu->data_size; fp@2103: i++; martin@1981: } fp@2116: } else if (datagram->type != EC_DATAGRAM_APWR && fp@2116: datagram->type != EC_DATAGRAM_FPWR && fp@2116: datagram->type != EC_DATAGRAM_BWR && fp@2116: datagram->type != EC_DATAGRAM_LWR) { fp@2116: // copy received data into the datagram memory, fp@2116: // if something has been read martin@1981: memcpy(datagram->data, frame_datagram_data, data_size); martin@1981: } fp@2103: fp@98: cur_data += data_size; fp@98: fp@293: // set the datagram's working counter fp@293: datagram->working_counter = EC_READ_U16(cur_data); fp@293: cur_data += EC_DATAGRAM_FOOTER_SIZE; fp@293: fp@293: // dequeue the received datagram fp@325: datagram->state = EC_DATAGRAM_RECEIVED; fp@1040: #ifdef EC_HAVE_CYCLES fp@579: datagram->cycles_received = master->main_device.cycles_poll; fp@1040: #endif fp@579: datagram->jiffies_received = master->main_device.jiffies_poll; ch1010277@2037: EC_MASTER_DBG(master, 2, "removing datagram %p i=0x%02X\n",datagram, ch1010277@2037: datagram->index); fp@293: list_del_init(&datagram->queue); fp@293: } fp@293: } fp@293: fp@293: /*****************************************************************************/ fp@293: fp@1029: /** Output master statistics. fp@997: * fp@997: * This function outputs statistical data on demand, but not more often than fp@997: * necessary. The output happens at most once a second. fp@997: */ fp@195: void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */) fp@98: { fp@344: if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) { fp@344: master->stats.output_jiffies = jiffies; fp@344: fp@98: if (master->stats.timeouts) { fp@1921: EC_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n", fp@1921: master->stats.timeouts, fp@396: master->stats.timeouts == 1 ? "" : "s"); fp@98: master->stats.timeouts = 0; fp@98: } fp@98: if (master->stats.corrupted) { fp@1921: EC_MASTER_WARN(master, "%u frame%s CORRUPTED!\n", fp@1921: master->stats.corrupted, fp@396: master->stats.corrupted == 1 ? "" : "s"); fp@98: master->stats.corrupted = 0; fp@98: } fp@98: if (master->stats.unmatched) { fp@1921: EC_MASTER_WARN(master, "%u datagram%s UNMATCHED!\n", fp@1921: master->stats.unmatched, fp@396: master->stats.unmatched == 1 ? "" : "s"); fp@98: master->stats.unmatched = 0; fp@98: } fp@73: } fp@54: } fp@54: martin@1600: martin@1600: /*****************************************************************************/ fp@1773: fp@1773: #ifdef EC_USE_HRTIMER fp@1773: martin@1600: /* martin@1600: * Sleep related functions: martin@1600: */ martin@1600: static enum hrtimer_restart ec_master_nanosleep_wakeup(struct hrtimer *timer) martin@1600: { fp@1773: struct hrtimer_sleeper *t = fp@1773: container_of(timer, struct hrtimer_sleeper, timer); fp@1773: struct task_struct *task = t->task; fp@1773: fp@1773: t->task = NULL; fp@1773: if (task) fp@1773: wake_up_process(task); fp@1773: fp@1773: return HRTIMER_NORESTART; fp@1773: } fp@1773: fp@1773: /*****************************************************************************/ martin@1600: ch1010472@1603: #if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,28) fp@1773: ch1010472@1603: /* compatibility with new hrtimer interface */ ch1010472@1603: static inline ktime_t hrtimer_get_expires(const struct hrtimer *timer) ch1010472@1603: { fp@1773: return timer->expires; fp@1773: } fp@1773: fp@1773: /*****************************************************************************/ ch1010472@1603: ch1010472@1603: static inline void hrtimer_set_expires(struct hrtimer *timer, ktime_t time) ch1010472@1603: { fp@1773: timer->expires = time; fp@1773: } fp@1773: fp@1773: #endif fp@1773: fp@1773: /*****************************************************************************/ ch1010472@1603: martin@1600: void ec_master_nanosleep(const unsigned long nsecs) martin@1600: { fp@1773: struct hrtimer_sleeper t; fp@1773: enum hrtimer_mode mode = HRTIMER_MODE_REL; fp@1773: fp@1773: hrtimer_init(&t.timer, CLOCK_MONOTONIC, mode); fp@1773: t.timer.function = ec_master_nanosleep_wakeup; fp@1773: t.task = current; martin@1600: #ifdef CONFIG_HIGH_RES_TIMERS ch1010472@1603: #if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 24) fp@1773: t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART; ch1010472@1603: #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 26) fp@1773: t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ; ch1010472@1603: #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 28) fp@1773: t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED; fp@1773: #endif fp@1773: #endif fp@1773: hrtimer_set_expires(&t.timer, ktime_set(0, nsecs)); fp@1773: fp@1773: do { fp@1773: set_current_state(TASK_INTERRUPTIBLE); fp@1773: hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode); fp@1773: fp@1773: if (likely(t.task)) fp@1773: schedule(); fp@1773: fp@1773: hrtimer_cancel(&t.timer); fp@1773: mode = HRTIMER_MODE_ABS; fp@1773: fp@1773: } while (t.task && !signal_pending(current)); fp@1773: } fp@1773: fp@1773: #endif // EC_USE_HRTIMER martin@1600: fp@68: /*****************************************************************************/ fp@68: fp@1029: /** Master kernel thread function for IDLE phase. fp@997: */ fp@1241: static int ec_master_idle_thread(void *priv_data) fp@1241: { fp@1241: ec_master_t *master = (ec_master_t *) priv_data; martin@1583: ec_slave_t *slave = NULL; fp@1804: size_t sent_bytes; fp@2094: fp@1774: // send interval in IDLE phase fp@1804: ec_master_set_send_interval(master, 1000000 / HZ); fp@1804: fp@1930: EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us," fp@1930: " max data size=%zu\n", master->send_interval, fp@1921: master->max_queue_size); fp@1241: fp@1241: while (!kthread_should_stop()) { fp@719: ec_datagram_output_stats(&master->fsm_datagram); fp@525: fp@1031: // receive ch1010277@2028: ec_mutex_lock(&master->io_mutex); fp@1031: ecrt_master_receive(master); ch1010277@2028: ec_mutex_unlock(&master->io_mutex); fp@1031: ch1010277@2018: // execute master & slave state machines fp@2094: if (ec_mutex_lock_interruptible(&master->master_mutex)) { ch1010277@2018: break; fp@2094: } ch1010277@2018: if (ec_fsm_master_exec(&master->fsm)) { ch1010277@2045: ec_master_mbox_queue_datagrams(master, &master->fsm_mbox); ch1010277@2018: } ch1010277@2018: for (slave = master->slaves; ch1010277@2018: slave < master->slaves + master->slave_count; ch1010277@2018: slave++) { ch1010277@2039: ec_fsm_slave_exec(&slave->fsm); // may queue datagram in fsm queue ch1010277@2018: } ch1010277@2020: #if defined(EC_EOE) fp@2094: if (!ec_master_eoe_processing(master)) { fp@2094: master->fsm.idle = 0; // pump the bus as fast as possible fp@2094: } ch1010277@2020: #endif ch1010277@2028: ec_mutex_unlock(&master->master_mutex); ch1010277@2018: ch1010277@2017: // queue and send ch1010277@2028: ec_mutex_lock(&master->io_mutex); fp@1031: ecrt_master_send(master); fp@1804: sent_bytes = master->main_device.tx_skb[ fp@1774: master->main_device.tx_ring_index]->len; ch1010277@2028: ec_mutex_unlock(&master->io_mutex); martin@1583: fp@1804: if (ec_fsm_master_idle(&master->fsm)) { fp@1773: #ifdef EC_USE_HRTIMER fp@1804: ec_master_nanosleep(master->send_interval * 1000); fp@1773: #else fp@1773: set_current_state(TASK_INTERRUPTIBLE); fp@1773: schedule_timeout(1); fp@1773: #endif fp@1773: } else { fp@1773: #ifdef EC_USE_HRTIMER fp@1804: ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS); fp@1773: #else fp@1773: schedule(); fp@1773: #endif fp@1773: } fp@525: } fp@518: fp@1921: EC_MASTER_DBG(master, 1, "Master IDLE thread exiting...\n"); fp@1774: fp@1241: return 0; fp@191: } fp@191: fp@637: /*****************************************************************************/ fp@637: martin@1583: /** Master kernel thread function for OPERATION phase. fp@997: */ fp@1241: static int ec_master_operation_thread(void *priv_data) fp@1241: { fp@1241: ec_master_t *master = (ec_master_t *) priv_data; martin@1583: ec_slave_t *slave = NULL; fp@1773: fp@1921: EC_MASTER_DBG(master, 1, "Operation thread running" fp@1930: " with fsm interval = %u us, max data size=%zu\n", fp@1921: master->send_interval, master->max_queue_size); fp@1241: fp@1241: while (!kthread_should_stop()) { fp@719: ec_datagram_output_stats(&master->fsm_datagram); fp@1773: ch1010277@2018: // output statistics ch1010277@2018: ec_master_output_stats(master); ch1010277@2018: ch1010277@2018: // execute master & slave state machines fp@2094: if (ec_mutex_lock_interruptible(&master->master_mutex)) { ch1010277@2018: break; fp@2094: } fp@2094: if (ec_fsm_master_exec(&master->fsm)) { ch1010277@2045: ec_master_mbox_queue_datagrams(master, &master->fsm_mbox); fp@2094: } ch1010277@2018: for (slave = master->slaves; ch1010277@2018: slave < master->slaves + master->slave_count; ch1010277@2018: slave++) { ch1010277@2039: ec_fsm_slave_exec(&slave->fsm); // may queue datagram in fsm queue ch1010277@2018: } ch1010277@2020: #if defined(EC_EOE) ch1010277@2020: ec_master_eoe_processing(master); ch1010277@2020: #endif ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1773: fp@1773: #ifdef EC_USE_HRTIMER fp@1804: // the op thread should not work faster than the sending RT thread fp@1804: ec_master_nanosleep(master->send_interval * 1000); fp@1773: #else fp@1773: if (ec_fsm_master_idle(&master->fsm)) { fp@1773: set_current_state(TASK_INTERRUPTIBLE); fp@1773: schedule_timeout(1); fp@1773: } fp@1773: else { fp@1773: schedule(); fp@1773: } fp@1773: #endif fp@1804: } fp@637: fp@1921: EC_MASTER_DBG(master, 1, "Master OP thread exiting...\n"); fp@1241: return 0; fp@637: } fp@578: fp@578: /*****************************************************************************/ fp@578: fp@715: #ifdef EC_EOE fp@251: fp@251: /*****************************************************************************/ fp@441: fp@1327: /** Does the Ethernet over EtherCAT processing. fp@997: */ ch1010277@2020: static int ec_master_eoe_processing(ec_master_t *master) ch1010277@2020: { fp@197: ec_eoe_t *eoe; fp@1489: unsigned int none_open, sth_to_send, all_idle; ch1010277@2020: none_open = 1; ch1010277@2020: all_idle = 1; ch1010277@2020: ch1010277@2020: list_for_each_entry(eoe, &master->eoe_handlers, list) { ch1010277@2020: if (ec_eoe_is_open(eoe)) { ch1010277@2020: none_open = 0; ch1010277@2020: break; ch1010277@2020: } ch1010277@2020: } ch1010277@2020: if (none_open) ch1010277@2020: return all_idle; ch1010277@2020: ch1010277@2020: // actual EoE processing ch1010277@2020: sth_to_send = 0; ch1010277@2020: list_for_each_entry(eoe, &master->eoe_handlers, list) { ch1010277@2020: ec_eoe_run(eoe); ch1010277@2020: if (eoe->queue_datagram) { ch1010277@2020: sth_to_send = 1; ch1010277@2020: } ch1010277@2020: if (!ec_eoe_is_idle(eoe)) { ch1010277@2020: all_idle = 0; ch1010277@2020: } ch1010277@2020: } ch1010277@2020: ch1010277@2020: if (sth_to_send) { fp@1489: list_for_each_entry(eoe, &master->eoe_handlers, list) { ch1010277@2020: ec_eoe_queue(eoe); ch1010277@2020: } ch1010277@2020: } ch1010277@2020: return all_idle; ch1010277@2020: } ch1010277@2020: ch1010277@2020: #endif // EC_EOE fp@197: fp@325: /*****************************************************************************/ fp@325: fp@792: /** Detaches the slave configurations from the slaves. fp@640: */ fp@792: void ec_master_detach_slave_configs( fp@792: ec_master_t *master /**< EtherCAT master. */ fp@640: ) fp@197: { fp@792: ec_slave_config_t *sc; fp@792: fp@792: list_for_each_entry(sc, &master->configs, list) { fp@792: ec_slave_config_detach(sc); fp@792: } fp@792: } fp@792: fp@792: /*****************************************************************************/ fp@792: fp@792: /** Attaches the slave configurations to the slaves. fp@792: */ fp@1028: void ec_master_attach_slave_configs( fp@792: ec_master_t *master /**< EtherCAT master. */ fp@792: ) fp@792: { fp@792: ec_slave_config_t *sc; fp@792: fp@792: list_for_each_entry(sc, &master->configs, list) { fp@1028: ec_slave_config_attach(sc); fp@1028: } fp@197: } fp@197: fp@927: /*****************************************************************************/ fp@927: fp@1077: /** Common implementation for ec_master_find_slave() fp@1077: * and ec_master_find_slave_const(). fp@1077: */ fp@1077: #define EC_FIND_SLAVE \ fp@1077: do { \ fp@1077: if (alias) { \ fp@1077: for (; slave < master->slaves + master->slave_count; \ fp@1077: slave++) { \ fp@1909: if (slave->effective_alias == alias) \ fp@1077: break; \ fp@1077: } \ fp@1077: if (slave == master->slaves + master->slave_count) \ fp@1077: return NULL; \ fp@1077: } \ fp@1077: \ fp@1077: slave += position; \ fp@1077: if (slave < master->slaves + master->slave_count) { \ fp@1077: return slave; \ fp@1077: } else { \ fp@1077: return NULL; \ fp@1077: } \ fp@1077: } while (0) fp@1077: fp@927: /** Finds a slave in the bus, given the alias and position. fp@927: */ fp@927: ec_slave_t *ec_master_find_slave( fp@927: ec_master_t *master, /**< EtherCAT master. */ fp@927: uint16_t alias, /**< Slave alias. */ fp@927: uint16_t position /**< Slave position. */ fp@927: ) fp@927: { fp@1000: ec_slave_t *slave = master->slaves; fp@1077: EC_FIND_SLAVE; fp@1077: } fp@1077: fp@1077: /** Finds a slave in the bus, given the alias and position. fp@1077: * fp@1077: * Const version. fp@1077: */ fp@1077: const ec_slave_t *ec_master_find_slave_const( fp@1077: const ec_master_t *master, /**< EtherCAT master. */ fp@1077: uint16_t alias, /**< Slave alias. */ fp@1077: uint16_t position /**< Slave position. */ fp@1077: ) fp@1077: { fp@1077: const ec_slave_t *slave = master->slaves; fp@1077: EC_FIND_SLAVE; fp@927: } fp@927: fp@946: /*****************************************************************************/ fp@946: fp@1092: /** Get the number of slave configurations provided by the application. fp@1092: * fp@1092: * \return Number of configurations. fp@1092: */ fp@990: unsigned int ec_master_config_count( fp@1507: const ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1507: { fp@1507: const ec_slave_config_t *sc; fp@1507: unsigned int count = 0; fp@1507: fp@1507: list_for_each_entry(sc, &master->configs, list) { fp@1507: count++; fp@1507: } fp@1507: fp@1507: return count; fp@990: } fp@990: fp@990: /*****************************************************************************/ fp@990: fp@1252: /** Common implementation for ec_master_get_config() fp@1252: * and ec_master_get_config_const(). fp@1252: */ fp@1252: #define EC_FIND_CONFIG \ fp@1252: do { \ fp@1507: list_for_each_entry(sc, &master->configs, list) { \ fp@1507: if (pos--) \ fp@1507: continue; \ fp@1507: return sc; \ fp@1507: } \ fp@1507: return NULL; \ fp@1252: } while (0) fp@1252: fp@1252: /** Get a slave configuration via its position in the list. fp@1252: * fp@1252: * \return Slave configuration or \a NULL. fp@1252: */ fp@1252: ec_slave_config_t *ec_master_get_config( fp@1507: const ec_master_t *master, /**< EtherCAT master. */ fp@1507: unsigned int pos /**< List position. */ fp@1507: ) fp@1507: { fp@1507: ec_slave_config_t *sc; fp@1507: EC_FIND_CONFIG; fp@1252: } fp@1252: fp@1092: /** Get a slave configuration via its position in the list. fp@1092: * fp@1092: * Const version. fp@1092: * fp@1092: * \return Slave configuration or \a NULL. fp@1092: */ fp@990: const ec_slave_config_t *ec_master_get_config_const( fp@1507: const ec_master_t *master, /**< EtherCAT master. */ fp@1507: unsigned int pos /**< List position. */ fp@1507: ) fp@1507: { fp@1507: const ec_slave_config_t *sc; fp@1507: EC_FIND_CONFIG; fp@990: } fp@990: fp@990: /*****************************************************************************/ fp@990: fp@1092: /** Get the number of domains. fp@1092: * fp@1092: * \return Number of domains. fp@1092: */ fp@946: unsigned int ec_master_domain_count( fp@1507: const ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1507: { fp@1507: const ec_domain_t *domain; fp@1507: unsigned int count = 0; fp@1507: fp@1507: list_for_each_entry(domain, &master->domains, list) { fp@1507: count++; fp@1507: } fp@1507: fp@1507: return count; fp@946: } fp@946: fp@946: /*****************************************************************************/ fp@946: fp@1082: /** Common implementation for ec_master_find_domain() and fp@1082: * ec_master_find_domain_const(). fp@1082: */ fp@1078: #define EC_FIND_DOMAIN \ fp@1078: do { \ fp@1078: list_for_each_entry(domain, &master->domains, list) { \ fp@1078: if (index--) \ fp@1078: continue; \ fp@1078: return domain; \ fp@1078: } \ fp@1078: \ fp@1078: return NULL; \ fp@1078: } while (0) fp@1078: fp@1092: /** Get a domain via its position in the list. fp@1092: * fp@1092: * \return Domain pointer, or \a NULL if not found. fp@1092: */ fp@946: ec_domain_t *ec_master_find_domain( fp@1507: ec_master_t *master, /**< EtherCAT master. */ fp@1507: unsigned int index /**< Domain index. */ fp@1507: ) fp@1507: { fp@1507: ec_domain_t *domain; fp@1078: EC_FIND_DOMAIN; fp@1078: } fp@1078: ab@2054: /** Wrapper Function for external usage ab@2054: * ab@2054: * \return Domain pointer, or \a NULL if not found. ab@2054: */ ab@2054: ec_domain_t *ecrt_master_find_domain( ab@2054: ec_master_t *master, /**< EtherCAT master. */ ab@2054: unsigned int index /**< Domain index. */ ab@2054: ) ab@2054: { ab@2054: return ec_master_find_domain( ab@2054: master, ab@2054: index); ab@2054: } ab@2054: fp@1092: /** Get a domain via its position in the list. fp@1092: * fp@1092: * Const version. fp@1092: * fp@1092: * \return Domain pointer, or \a NULL if not found. fp@1092: */ fp@1078: const ec_domain_t *ec_master_find_domain_const( fp@1507: const ec_master_t *master, /**< EtherCAT master. */ fp@1507: unsigned int index /**< Domain index. */ fp@1507: ) fp@1507: { fp@1507: const ec_domain_t *domain; fp@1078: EC_FIND_DOMAIN; fp@946: } fp@946: fp@956: /*****************************************************************************/ fp@956: fp@1516: #ifdef EC_EOE fp@1516: fp@1485: /** Get the number of EoE handlers. fp@1485: * fp@1485: * \return Number of EoE handlers. fp@1485: */ fp@1485: uint16_t ec_master_eoe_handler_count( fp@1507: const ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1507: { fp@1507: const ec_eoe_t *eoe; fp@1507: unsigned int count = 0; fp@1507: fp@1507: list_for_each_entry(eoe, &master->eoe_handlers, list) { fp@1507: count++; fp@1507: } fp@1507: fp@1507: return count; fp@1485: } fp@1485: fp@1485: /*****************************************************************************/ fp@1485: fp@1485: /** Get an EoE handler via its position in the list. fp@1485: * fp@1485: * Const version. fp@1485: * fp@1485: * \return EoE handler pointer, or \a NULL if not found. fp@1485: */ fp@1485: const ec_eoe_t *ec_master_get_eoe_handler_const( fp@1507: const ec_master_t *master, /**< EtherCAT master. */ fp@1507: uint16_t index /**< EoE handler index. */ fp@1507: ) fp@1507: { fp@1507: const ec_eoe_t *eoe; fp@1507: fp@1507: list_for_each_entry(eoe, &master->eoe_handlers, list) { fp@1507: if (index--) fp@1507: continue; fp@1507: return eoe; fp@1507: } fp@1507: fp@1507: return NULL; fp@1485: } fp@1485: fp@1516: #endif fp@1516: fp@1485: /*****************************************************************************/ fp@1485: fp@1092: /** Set the debug level. fp@1092: * fp@1313: * \retval 0 Success. fp@1313: * \retval -EINVAL Invalid debug level. fp@1092: */ fp@956: int ec_master_debug_level( fp@1092: ec_master_t *master, /**< EtherCAT master. */ fp@1399: unsigned int level /**< Debug level. May be 0, 1 or 2. */ fp@956: ) fp@956: { fp@1399: if (level > 2) { fp@1921: EC_MASTER_ERR(master, "Invalid debug level %u!\n", level); fp@1313: return -EINVAL; fp@956: } fp@956: fp@956: if (level != master->debug_level) { fp@956: master->debug_level = level; fp@1921: EC_MASTER_INFO(master, "Master debug level set to %u.\n", fp@1921: master->debug_level); fp@956: } fp@956: fp@956: return 0; fp@956: } fp@956: fp@1408: /*****************************************************************************/ fp@1408: fp@1408: /** Finds the DC reference clock. fp@1408: */ fp@1408: void ec_master_find_dc_ref_clock( fp@1408: ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1507: { fp@1507: ec_slave_t *slave, *ref = NULL; fp@1408: fp@1408: for (slave = master->slaves; fp@1408: slave < master->slaves + master->slave_count; fp@1408: slave++) { fp@1425: if (slave->base_dc_supported && slave->has_dc_system_time) { fp@1425: ref = slave; fp@1425: break; fp@1425: } fp@1425: } fp@1425: fp@1425: master->dc_ref_clock = ref; fp@1425: fp@1425: // This call always succeeds, because the datagram has been pre-allocated. fp@1425: ec_datagram_frmw(&master->sync_datagram, fp@1425: ref ? ref->station_address : 0xffff, 0x0910, 4); fp@1408: } fp@1408: fp@1421: /*****************************************************************************/ fp@1421: fp@1421: /** Calculates the bus topology; recursion function. fp@1421: */ fp@1421: int ec_master_calc_topology_rec( fp@1421: ec_master_t *master, /**< EtherCAT master. */ fp@1421: ec_slave_t *port0_slave, /**< Slave at port 0. */ fp@1421: unsigned int *slave_position /**< Slave position. */ fp@1507: ) fp@1421: { fp@1421: ec_slave_t *slave = master->slaves + *slave_position; fp@1421: unsigned int i; fp@1421: int ret; fp@1421: fp@1425: slave->ports[0].next_slave = port0_slave; fp@1421: ch1010277@1998: i = 3; ch1010277@1998: while (i != 0) { fp@1425: if (!slave->ports[i].link.loop_closed) { fp@1421: *slave_position = *slave_position + 1; fp@1421: if (*slave_position < master->slave_count) { fp@1425: slave->ports[i].next_slave = master->slaves + *slave_position; fp@1421: ret = ec_master_calc_topology_rec(master, fp@1421: slave, slave_position); fp@1421: if (ret) fp@1421: return ret; fp@1421: } else { fp@1421: return -1; fp@1421: } fp@1421: } ch1010277@1998: switch (i) ch1010277@1998: { ch1010277@1998: case 0: i = 3; break; ch1010277@1998: case 1: i = 2; break; ch1010277@1998: case 3: i = 1; break; ch1010277@1998: case 2: ch1010277@1998: default:i = 0; break; ch1010277@1998: } fp@1421: } fp@1421: fp@1421: return 0; fp@1421: } fp@1421: fp@1421: /*****************************************************************************/ fp@1421: fp@1421: /** Calculates the bus topology. fp@1421: */ fp@1421: void ec_master_calc_topology( fp@1421: ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1421: { fp@1421: unsigned int slave_position = 0; fp@1421: fp@1421: if (master->slave_count == 0) fp@1421: return; fp@1421: fp@1421: if (ec_master_calc_topology_rec(master, NULL, &slave_position)) fp@1921: EC_MASTER_ERR(master, "Failed to calculate bus topology.\n"); fp@1421: } fp@1421: fp@1425: /*****************************************************************************/ fp@1425: fp@1426: /** Calculates the bus transmission delays. fp@1426: */ fp@1426: void ec_master_calc_transmission_delays( fp@1425: ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1507: { fp@1507: ec_slave_t *slave; fp@1425: fp@1425: for (slave = master->slaves; fp@1425: slave < master->slaves + master->slave_count; fp@1425: slave++) { fp@1425: ec_slave_calc_port_delays(slave); fp@1425: } fp@1425: fp@1425: if (master->dc_ref_clock) { fp@1425: uint32_t delay = 0; fp@1426: ec_slave_calc_transmission_delays_rec(master->dc_ref_clock, &delay); fp@1425: } fp@1425: } fp@1425: fp@1425: /*****************************************************************************/ fp@1425: fp@1425: /** Distributed-clocks calculations. fp@1425: */ fp@1425: void ec_master_calc_dc( fp@1425: ec_master_t *master /**< EtherCAT master. */ fp@1507: ) fp@1507: { fp@1507: // find DC reference clock fp@1507: ec_master_find_dc_ref_clock(master); fp@1425: fp@1425: // calculate bus topology fp@1425: ec_master_calc_topology(master); fp@1425: fp@1426: ec_master_calc_transmission_delays(master); fp@1425: } fp@1425: fp@1925: /*****************************************************************************/ fp@1925: fp@1925: /** Request OP state for configured slaves. fp@1925: */ fp@1925: void ec_master_request_op( fp@1925: ec_master_t *master /**< EtherCAT master. */ fp@1925: ) fp@1925: { fp@1925: unsigned int i; fp@1925: ec_slave_t *slave; fp@1925: fp@1925: if (!master->active) fp@1925: return; fp@1925: fp@1925: EC_MASTER_DBG(master, 1, "Requesting OP...\n"); fp@1925: fp@1925: // request OP for all configured slaves fp@1925: for (i = 0; i < master->slave_count; i++) { fp@1925: slave = master->slaves + i; fp@1925: if (slave->config) { fp@1925: ec_slave_request_state(slave, EC_SLAVE_STATE_OP); fp@1925: } fp@1925: } fp@1925: fp@1925: // always set DC reference clock to OP fp@1925: if (master->dc_ref_clock) { fp@1925: ec_slave_request_state(master->dc_ref_clock, fp@1925: EC_SLAVE_STATE_OP); fp@1925: } fp@1925: } fp@1925: fp@640: /****************************************************************************** fp@1394: * Application interface fp@640: *****************************************************************************/ fp@640: fp@1332: /** Same as ecrt_master_create_domain(), but with ERR_PTR() return value. fp@1332: */ fp@1312: ec_domain_t *ecrt_master_create_domain_err( fp@1312: ec_master_t *master /**< master */ fp@1312: ) fp@640: { fp@640: ec_domain_t *domain, *last_domain; fp@640: unsigned int index; fp@640: fp@1921: EC_MASTER_DBG(master, 1, "ecrt_master_create_domain(master = 0x%p)\n", fp@1921: master); fp@1181: fp@2107: if (!(domain = fp@2107: (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) { fp@1921: EC_MASTER_ERR(master, "Error allocating domain memory!\n"); fp@1312: return ERR_PTR(-ENOMEM); fp@640: } fp@640: ch1010277@2028: ec_mutex_lock(&master->master_mutex); fp@1075: fp@993: if (list_empty(&master->domains)) { fp@993: index = 0; fp@993: } else { fp@640: last_domain = list_entry(master->domains.prev, ec_domain_t, list); fp@640: index = last_domain->index + 1; fp@640: } fp@640: fp@993: ec_domain_init(domain, master, index); fp@640: list_add_tail(&domain->list, &master->domains); fp@640: ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1075: fp@1921: EC_MASTER_DBG(master, 1, "Created domain %u.\n", domain->index); fp@1181: fp@640: return domain; fp@640: } fp@640: fp@640: /*****************************************************************************/ fp@640: fp@1312: ec_domain_t *ecrt_master_create_domain( fp@1312: ec_master_t *master /**< master */ fp@1312: ) fp@1312: { fp@1312: ec_domain_t *d = ecrt_master_create_domain_err(master); fp@1312: return IS_ERR(d) ? NULL : d; fp@1312: } fp@1312: fp@1312: /*****************************************************************************/ fp@1312: fp@792: int ecrt_master_activate(ec_master_t *master) fp@640: { fp@640: uint32_t domain_offset; fp@640: ec_domain_t *domain; fp@1313: int ret; fp@640: fp@1921: EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master); fp@1181: fp@1530: if (master->active) { fp@1921: EC_MASTER_WARN(master, "%s: Master already active!\n", __func__); fp@1530: return 0; fp@1530: } fp@1530: ch1010277@2028: ec_mutex_lock(&master->master_mutex); fp@1075: fp@792: // finish all domains fp@640: domain_offset = 0; fp@640: list_for_each_entry(domain, &master->domains, list) { fp@1313: ret = ec_domain_finish(domain, domain_offset); fp@1313: if (ret < 0) { ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1921: EC_MASTER_ERR(master, "Failed to finish domain 0x%p!\n", domain); fp@1313: return ret; fp@640: } fp@640: domain_offset += domain->data_size; fp@640: } fp@1075: ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@640: fp@656: // restart EoE process and master thread with new locking fp@1914: fp@1914: ec_master_thread_stop(master); fp@656: fp@1921: EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram); fp@640: fp@656: master->injection_seq_fsm = 0; fp@656: master->injection_seq_rt = 0; fp@1500: ch1010277@2024: master->fsm_queue_lock_cb = master->app_fsm_queue_lock_cb; ch1010277@2024: master->fsm_queue_unlock_cb = master->app_fsm_queue_unlock_cb; ch1010277@2024: master->fsm_queue_locking_data = master->app_fsm_queue_locking_data; fp@656: fp@1313: ret = ec_master_thread_start(master, ec_master_operation_thread, fp@1313: "EtherCAT-OP"); fp@1313: if (ret < 0) { fp@1921: EC_MASTER_ERR(master, "Failed to start master thread!\n"); fp@1313: return ret; fp@640: } fp@902: fp@902: master->allow_scan = 1; // allow re-scanning on topology change fp@1530: master->active = 1; fp@1925: fp@1925: // notify state machine, that the configuration shall now be applied fp@1925: master->config_changed = 1; fp@1925: fp@640: return 0; fp@640: } fp@640: fp@640: /*****************************************************************************/ fp@640: fp@1530: void ecrt_master_deactivate(ec_master_t *master) fp@1530: { fp@1530: ec_slave_t *slave; fp@1530: #ifdef EC_EOE fp@1530: ec_eoe_t *eoe; ch1010472@2036: int is_eoe_slave; fp@1530: #endif fp@1530: fp@1939: EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master); fp@1530: fp@1530: if (!master->active) { fp@1921: EC_MASTER_WARN(master, "%s: Master not active.\n", __func__); fp@1530: return; fp@1530: } fp@1530: fp@1914: ec_master_thread_stop(master); fp@1530: ch1010277@2024: master->fsm_queue_lock_cb = NULL; ch1010277@2024: master->fsm_queue_unlock_cb= NULL; ch1010277@2024: master->fsm_queue_locking_data = NULL; fp@1530: fp@1939: ec_master_clear_config(master); fp@1530: fp@1530: for (slave = master->slaves; fp@1530: slave < master->slaves + master->slave_count; fp@1530: slave++) { fp@1530: ch1010277@2020: // set state to PREOP for all but eoe slaves ch1010277@2020: #ifdef EC_EOE ch1010472@2036: is_eoe_slave = 0; ch1010277@2020: // ... but leave EoE slaves in OP ch1010277@2020: list_for_each_entry(eoe, &master->eoe_handlers, list) { ch1010472@2036: if (slave == eoe->slave && ec_eoe_is_open(eoe)) ch1010472@2036: is_eoe_slave = 1; ch1010472@2036: } ch1010472@2036: if (!is_eoe_slave) { ch1010472@2036: ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); ch1010472@2036: // mark for reconfiguration, because the master could have no fp@2107: // possibility for a reconfiguration between two sequential fp@2107: // operation phases. ch1010472@2036: slave->force_config = 1; ch1010277@2020: } ch1010277@2020: #else fp@1530: ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); fp@1530: // mark for reconfiguration, because the master could have no fp@1530: // possibility for a reconfiguration between two sequential operation fp@1530: // phases. fp@1530: slave->force_config = 1; ch1010277@2020: #endif ch1010277@2020: ch1010277@2020: } fp@1530: fp@1530: master->app_time = 0ULL; fp@1530: master->app_start_time = 0ULL; fp@1925: master->has_app_time = 0; fp@1530: fp@1530: if (ec_master_thread_start(master, ec_master_idle_thread, fp@1530: "EtherCAT-IDLE")) fp@1921: EC_MASTER_WARN(master, "Failed to restart master thread!\n"); fp@1530: fp@1530: master->allow_scan = 1; fp@1530: master->active = 0; fp@1530: } fp@1530: fp@1530: /*****************************************************************************/ fp@1530: fp@792: void ecrt_master_send(ec_master_t *master) fp@640: { ch1010277@2039: ec_datagram_t *datagram, *next; fp@640: ch1010277@2018: ec_master_inject_fsm_datagrams(master); fp@640: fp@640: if (unlikely(!master->main_device.link_state)) { fp@640: // link is down, no datagram can be sent fp@2094: list_for_each_entry_safe(datagram, next, &master->datagram_queue, fp@2094: queue) { fp@640: datagram->state = EC_DATAGRAM_ERROR; fp@640: list_del_init(&datagram->queue); fp@640: } fp@640: fp@640: // query link state fp@640: ec_device_poll(&master->main_device); fp@1856: fp@1856: // clear frame statistics fp@1856: ec_device_clear_stats(&master->main_device); fp@640: return; fp@640: } fp@640: fp@640: // send frames fp@1804: ec_master_send_datagrams(master); fp@640: } fp@640: fp@640: /*****************************************************************************/ fp@640: fp@792: void ecrt_master_receive(ec_master_t *master) fp@640: { fp@640: ec_datagram_t *datagram, *next; fp@640: fp@640: // receive datagrams fp@640: ec_device_poll(&master->main_device); fp@640: fp@640: // dequeue all datagrams that timed out fp@640: list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) { fp@640: if (datagram->state != EC_DATAGRAM_SENT) continue; fp@640: fp@1040: #ifdef EC_HAVE_CYCLES fp@640: if (master->main_device.cycles_poll - datagram->cycles_sent fp@1279: > timeout_cycles) { fp@1040: #else fp@1279: if (master->main_device.jiffies_poll - datagram->jiffies_sent fp@1279: > timeout_jiffies) { fp@1040: #endif fp@640: list_del_init(&datagram->queue); fp@640: datagram->state = EC_DATAGRAM_TIMED_OUT; fp@640: master->stats.timeouts++; fp@640: ec_master_output_stats(master); fp@684: fp@684: if (unlikely(master->debug_level > 0)) { fp@1237: unsigned int time_us; fp@1237: #ifdef EC_HAVE_CYCLES fp@1237: time_us = (unsigned int) (master->main_device.cycles_poll - fp@1237: datagram->cycles_sent) * 1000 / cpu_khz; fp@1237: #else fp@1279: time_us = (unsigned int) ((master->main_device.jiffies_poll - fp@1279: datagram->jiffies_sent) * 1000000 / HZ); fp@1237: #endif fp@1921: EC_MASTER_DBG(master, 0, "TIMED OUT datagram %p," fp@1921: " index %02X waited %u us.\n", fp@1543: datagram, datagram->index, time_us); fp@684: } fp@640: } fp@640: } fp@640: } fp@640: fp@1500: fp@1500: /*****************************************************************************/ fp@1500: fp@1332: /** Same as ecrt_master_slave_config(), but with ERR_PTR() return value. fp@1332: */ fp@1312: ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *master, fp@792: uint16_t alias, uint16_t position, uint32_t vendor_id, fp@1010: uint32_t product_code) fp@792: { fp@792: ec_slave_config_t *sc; fp@697: unsigned int found = 0; fp@697: fp@1181: fp@1921: EC_MASTER_DBG(master, 1, "ecrt_master_slave_config(master = 0x%p," fp@1921: " alias = %u, position = %u, vendor_id = 0x%08x," fp@1921: " product_code = 0x%08x)\n", fp@1921: master, alias, position, vendor_id, product_code); fp@1181: fp@792: list_for_each_entry(sc, &master->configs, list) { fp@792: if (sc->alias == alias && sc->position == position) { fp@697: found = 1; fp@697: break; fp@697: } fp@697: } fp@697: fp@1024: if (found) { // config with same alias/position already existing fp@1010: if (sc->vendor_id != vendor_id || sc->product_code != product_code) { fp@1921: EC_MASTER_ERR(master, "Slave type mismatch. Slave was" fp@1921: " configured as 0x%08X/0x%08X before. Now configuring" fp@1921: " with 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code, fp@1010: vendor_id, product_code); fp@1312: return ERR_PTR(-ENOENT); fp@792: } fp@792: } else { fp@1921: EC_MASTER_DBG(master, 1, "Creating slave configuration for %u:%u," fp@1921: " 0x%08X/0x%08X.\n", fp@1921: alias, position, vendor_id, product_code); fp@792: fp@792: if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t), fp@792: GFP_KERNEL))) { fp@1921: EC_MASTER_ERR(master, "Failed to allocate memory" fp@1921: " for slave configuration.\n"); fp@1312: return ERR_PTR(-ENOMEM); fp@792: } fp@792: fp@995: ec_slave_config_init(sc, master, fp@1010: alias, position, vendor_id, product_code); fp@792: ch1010277@2028: ec_mutex_lock(&master->master_mutex); fp@1075: fp@792: // try to find the addressed slave fp@1055: ec_slave_config_attach(sc); fp@1055: ec_slave_config_load_default_sync_config(sc); fp@792: list_add_tail(&sc->list, &master->configs); fp@1075: ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@792: } fp@792: fp@792: return sc; fp@792: } fp@792: fp@792: /*****************************************************************************/ fp@792: fp@1312: ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, fp@1312: uint16_t alias, uint16_t position, uint32_t vendor_id, fp@1312: uint32_t product_code) fp@1312: { fp@1312: ec_slave_config_t *sc = ecrt_master_slave_config_err(master, alias, fp@1312: position, vendor_id, product_code); fp@1312: return IS_ERR(sc) ? NULL : sc; fp@1312: } fp@1312: fp@1312: /*****************************************************************************/ fp@1312: fp@1594: int ecrt_master(ec_master_t *master, ec_master_info_t *master_info) fp@1594: { fp@1921: EC_MASTER_DBG(master, 1, "ecrt_master(master = 0x%p," fp@1921: " master_info = 0x%p)\n", master, master_info); fp@1594: fp@1594: master_info->slave_count = master->slave_count; fp@1594: master_info->link_up = master->main_device.link_state; fp@1594: master_info->scan_busy = master->scan_busy; fp@1594: master_info->app_time = master->app_time; fp@1594: return 0; fp@1594: } fp@1594: fp@1594: /*****************************************************************************/ fp@1594: fp@1594: int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position, fp@1594: ec_slave_info_t *slave_info) fp@1594: { fp@1594: const ec_slave_t *slave; fp@1594: ch1010277@2028: if (ec_mutex_lock_interruptible(&master->master_mutex)) { fp@1594: return -EINTR; fp@1594: } fp@1594: fp@1594: slave = ec_master_find_slave_const(master, 0, slave_position); fp@1594: fp@1594: slave_info->position = slave->ring_position; fp@1594: slave_info->vendor_id = slave->sii.vendor_id; fp@1594: slave_info->product_code = slave->sii.product_code; fp@1594: slave_info->revision_number = slave->sii.revision_number; fp@1594: slave_info->serial_number = slave->sii.serial_number; fp@1909: slave_info->alias = slave->effective_alias; fp@1594: slave_info->current_on_ebus = slave->sii.current_on_ebus; fp@1594: slave_info->al_state = slave->current_state; fp@1594: slave_info->error_flag = slave->error_flag; fp@1594: slave_info->sync_count = slave->sii.sync_count; fp@1594: slave_info->sdo_count = ec_slave_sdo_count(slave); fp@1594: if (slave->sii.name) { fp@1594: strncpy(slave_info->name, slave->sii.name, EC_MAX_STRING_LENGTH); fp@1594: } else { fp@1594: slave_info->name[0] = 0; fp@1594: } fp@1594: ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1594: fp@1594: return 0; fp@1594: } fp@1594: fp@1594: /*****************************************************************************/ fp@1594: fp@1500: void ecrt_master_callbacks(ec_master_t *master, ch1010277@2024: void (*lock_cb)(void *), void (*unlock_cb)(void *), ch1010277@2024: void *cb_data) ch1010277@2024: { ch1010277@2024: EC_MASTER_DBG(master, 1,"ecrt_master_callbacks(master = %p, " ch1010277@2024: "lock_cb = %p, unlock_cb = %p, cb_data = %p)\n", ch1010277@2024: master, lock_cb, unlock_cb, cb_data); ch1010277@2024: ch1010277@2024: master->app_fsm_queue_lock_cb = lock_cb; ch1010277@2024: master->app_fsm_queue_unlock_cb = unlock_cb; ch1010277@2024: master->app_fsm_queue_locking_data = cb_data; ch1010277@2024: } ch1010277@2024: fp@204: fp@204: /*****************************************************************************/ fp@204: fp@792: void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state) fp@792: { fp@792: state->slaves_responding = master->fsm.slaves_responding; fp@1022: state->al_states = master->fsm.slave_states; ha@1018: state->link_up = master->main_device.link_state; fp@612: } fp@612: fp@612: /*****************************************************************************/ fp@612: fp@2107: void ecrt_master_configured_slaves_state( fp@2107: const ec_master_t *master, fp@2107: ec_master_state_t *state fp@2107: ) martin@1978: { martin@1978: const ec_slave_config_t *sc; martin@1978: ec_slave_config_state_t sc_state; martin@1978: martin@1978: // collect al_states of all configured online slaves martin@1978: state->al_states = 0; martin@1978: list_for_each_entry(sc, &master->configs, list) { martin@1978: ecrt_slave_config_state(sc,&sc_state); martin@1978: if (sc_state.online) martin@1978: state->al_states |= sc_state.al_state; martin@1978: } martin@1978: martin@1978: state->slaves_responding = master->fsm.slaves_responding; martin@1978: state->link_up = master->main_device.link_state; martin@1978: } martin@1978: martin@1978: /*****************************************************************************/ martin@1978: fp@1434: void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) fp@1417: { fp@1417: master->app_time = app_time; fp@1436: fp@1925: if (unlikely(!master->has_app_time)) { fp@2107: EC_MASTER_DBG(master, 1, "Set application start time = %llu\n", fp@2107: app_time); fp@2107: master->app_start_time = app_time; ch1010277@1999: #ifdef EC_HAVE_CYCLES fp@2107: master->dc_cycles_app_start_time = get_cycles(); fp@2107: #endif fp@2107: master->dc_jiffies_app_start_time = jiffies; fp@1925: master->has_app_time = 1; fp@1436: } fp@1434: } fp@1434: fp@1434: /*****************************************************************************/ fp@1434: fp@1434: void ecrt_master_sync_reference_clock(ec_master_t *master) fp@1434: { fp@1396: EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time); fp@1396: ec_master_queue_datagram(master, &master->ref_sync_datagram); fp@1410: } fp@1410: fp@1410: /*****************************************************************************/ fp@1410: fp@1410: void ecrt_master_sync_slave_clocks(ec_master_t *master) fp@1410: { fp@1394: ec_datagram_zero(&master->sync_datagram); fp@1394: ec_master_queue_datagram(master, &master->sync_datagram); fp@1394: } fp@1394: fp@1394: /*****************************************************************************/ fp@1394: fp@1535: void ecrt_master_sync_monitor_queue(ec_master_t *master) fp@1535: { fp@1535: ec_datagram_zero(&master->sync_mon_datagram); fp@1535: ec_master_queue_datagram(master, &master->sync_mon_datagram); fp@1535: } fp@1535: fp@1535: /*****************************************************************************/ fp@1535: fp@1535: uint32_t ecrt_master_sync_monitor_process(ec_master_t *master) fp@1535: { fp@1535: if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) { fp@1535: return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff; fp@1535: } else { fp@1535: return 0xffffffff; fp@1535: } fp@1535: } fp@1535: fp@1535: /*****************************************************************************/ fp@1535: fp@2107: int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position, fp@2107: uint16_t index, uint8_t subindex, uint8_t *data, fp@2107: size_t data_size, uint32_t *abort_code) fp@2107: { fp@2107: ec_master_sdo_request_t* request; fp@2107: int retval; fp@2107: fp@2110: EC_MASTER_DBG(master, 1, "%s(master = 0x%p," fp@2110: " slave_position = %u, index = 0x%04X, subindex = 0x%02X," fp@2110: " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n", fp@2110: __func__, master, slave_position, index, subindex, fp@2110: data, data_size, abort_code); fp@2110: fp@2107: if (!data_size) { fp@2107: EC_MASTER_ERR(master, "Zero data size!\n"); fp@2107: return -EINVAL; fp@2107: } fp@2107: fp@2107: request = kmalloc(sizeof(*request), GFP_KERNEL); fp@2107: if (!request) { fp@2107: return -ENOMEM; fp@2107: } fp@2107: kref_init(&request->refcount); fp@2107: fp@2107: ec_sdo_request_init(&request->req); fp@2107: ec_sdo_request_address(&request->req, index, subindex); fp@2107: if (ec_sdo_request_alloc(&request->req, data_size)) { fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -ENOMEM; fp@2107: } fp@2107: memcpy(request->req.data, data, data_size); fp@2107: request->req.data_size = data_size; fp@2107: ecrt_sdo_request_write(&request->req); fp@2107: fp@2107: if (ec_mutex_lock_interruptible(&master->master_mutex)) { fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EINTR; fp@2107: } fp@2107: fp@2107: if (!(request->slave = ec_master_find_slave( fp@2107: master, 0, slave_position))) { fp@2107: ec_mutex_unlock(&master->master_mutex); fp@2107: EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position); fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EINVAL; fp@2107: } fp@2107: fp@2107: EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p.\n", fp@2107: request); fp@2107: fp@2107: // schedule request fp@2107: kref_get(&request->refcount); fp@2107: list_add_tail(&request->list, &request->slave->slave_sdo_requests); fp@2107: fp@2107: ec_mutex_unlock(&master->master_mutex); fp@2107: fp@2107: // wait for processing through FSM fp@2107: if (wait_event_interruptible(request->slave->sdo_queue, fp@2107: ((request->req.state == EC_INT_REQUEST_SUCCESS) || fp@2107: (request->req.state == EC_INT_REQUEST_FAILURE)))) { fp@2107: // interrupted by signal fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EINTR; fp@2107: } fp@2107: fp@2107: EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p.\n", fp@2107: request); fp@2107: fp@2107: *abort_code = request->req.abort_code; fp@2107: fp@2107: if (request->req.state == EC_INT_REQUEST_SUCCESS) { fp@2107: retval = 0; fp@2107: } else if (request->req.errno) { fp@2107: retval = -request->req.errno; fp@2107: } else { fp@2107: retval = -EIO; fp@2107: } fp@2107: fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return retval; fp@2107: } fp@2107: fp@2107: /*****************************************************************************/ fp@2107: fp@2150: int ecrt_master_sdo_download_complete(ec_master_t *master, fp@2150: uint16_t slave_position, uint16_t index, uint8_t *data, fp@2150: size_t data_size, uint32_t *abort_code) fp@2150: { fp@2150: ec_master_sdo_request_t request; fp@2150: fp@2150: EC_MASTER_DBG(master, 1, "%s(master = 0x%p," fp@2150: " slave_position = %u, index = 0x%04X," fp@2150: " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n", fp@2150: __func__, master, slave_position, index, data, data_size, fp@2150: abort_code); fp@2150: fp@2150: if (!data_size) { fp@2150: EC_MASTER_ERR(master, "Zero data size!\n"); fp@2150: return -EINVAL; fp@2150: } fp@2150: fp@2150: ec_sdo_request_init(&request.req); fp@2150: ec_sdo_request_address(&request.req, index, 0); fp@2150: if (ec_sdo_request_alloc(&request.req, data_size)) { fp@2150: ec_sdo_request_clear(&request.req); fp@2150: return -ENOMEM; fp@2150: } fp@2150: fp@2150: request.req.complete_access = 1; fp@2150: memcpy(request.req.data, data, data_size); fp@2150: request.req.data_size = data_size; fp@2150: ecrt_sdo_request_write(&request.req); fp@2150: fp@2150: if (down_interruptible(&master->master_sem)) fp@2150: return -EINTR; fp@2150: fp@2150: if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) { fp@2150: up(&master->master_sem); fp@2150: EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position); fp@2150: ec_sdo_request_clear(&request.req); fp@2150: return -EINVAL; fp@2150: } fp@2150: fp@2150: EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request" fp@2150: " (complete access).\n"); fp@2150: fp@2150: // schedule request. fp@2150: list_add_tail(&request.list, &request.slave->slave_sdo_requests); fp@2150: fp@2150: up(&master->master_sem); fp@2150: fp@2150: // wait for processing through FSM fp@2150: if (wait_event_interruptible(request.slave->sdo_queue, fp@2150: request.req.state != EC_INT_REQUEST_QUEUED)) { fp@2150: // interrupted by signal fp@2150: down(&master->master_sem); fp@2150: if (request.req.state == EC_INT_REQUEST_QUEUED) { fp@2150: list_del(&request.list); fp@2150: up(&master->master_sem); fp@2150: ec_sdo_request_clear(&request.req); fp@2150: return -EINTR; fp@2150: } fp@2150: // request already processing: interrupt not possible. fp@2150: up(&master->master_sem); fp@2150: } fp@2150: fp@2150: // wait until master FSM has finished processing fp@2150: wait_event(request.slave->sdo_queue, fp@2150: request.req.state != EC_INT_REQUEST_BUSY); fp@2150: fp@2150: EC_SLAVE_DBG(request.slave, 1, "Finished SDO download request" fp@2150: " (complete access).\n"); fp@2150: fp@2150: *abort_code = request.req.abort_code; fp@2150: fp@2150: if (request.req.state == EC_INT_REQUEST_SUCCESS) { fp@2150: return 0; fp@2150: } else if (request.req.errno) { fp@2150: return -request.req.errno; fp@2150: } else { fp@2150: return -EIO; fp@2150: } fp@2150: } fp@2150: fp@2150: /*****************************************************************************/ fp@2150: fp@2107: int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position, fp@2107: uint16_t index, uint8_t subindex, uint8_t *target, fp@2107: size_t target_size, size_t *result_size, uint32_t *abort_code) fp@2107: { fp@2107: ec_master_sdo_request_t* request; fp@2107: int retval; fp@2107: fp@2110: EC_MASTER_DBG(master, 1, "%s(master = 0x%p," fp@2110: " slave_position = %u, index = 0x%04X, subindex = 0x%02X," fp@2110: " target = 0x%p, target_size = %zu, result_size = 0x%p, " fp@2110: " abort_code = 0x%p)\n", fp@2110: __func__, master, slave_position, index, subindex, target, fp@2110: target_size, result_size, abort_code); fp@2110: fp@2107: request = kmalloc(sizeof(*request), GFP_KERNEL); fp@2107: if (!request) fp@2107: return -ENOMEM; fp@2107: kref_init(&request->refcount); fp@2107: fp@2107: ec_sdo_request_init(&request->req); fp@2107: ec_sdo_request_address(&request->req, index, subindex); fp@2107: ecrt_sdo_request_read(&request->req); fp@2107: fp@2107: if (ec_mutex_lock_interruptible(&master->master_mutex)) { fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EINTR; fp@2107: } fp@2107: fp@2107: if (!(request->slave = ec_master_find_slave( fp@2107: master, 0, slave_position))) { fp@2107: ec_mutex_unlock(&master->master_mutex); fp@2107: EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position); fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EINVAL; fp@2107: } fp@2107: fp@2107: EC_SLAVE_DBG(request->slave, 1, "Schedule SDO upload request %p.\n", fp@2107: request); fp@2107: fp@2107: // schedule request fp@2107: kref_get(&request->refcount); fp@2107: list_add_tail(&request->list, &request->slave->slave_sdo_requests); fp@2107: fp@2107: ec_mutex_unlock(&master->master_mutex); fp@2107: fp@2107: // wait for processing through FSM fp@2107: if (wait_event_interruptible(request->slave->sdo_queue, fp@2107: ((request->req.state == EC_INT_REQUEST_SUCCESS) || fp@2107: (request->req.state == EC_INT_REQUEST_FAILURE)))) { fp@2107: // interrupted by signal fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EINTR; fp@2107: } fp@2107: fp@2107: EC_SLAVE_DBG(request->slave, 1, "Finished SDO upload request %p.\n", fp@2107: request); fp@2107: fp@2107: *abort_code = request->req.abort_code; fp@2107: fp@2107: if (request->req.state != EC_INT_REQUEST_SUCCESS) { fp@2107: *result_size = 0; fp@2107: if (request->req.errno) { fp@2107: retval = -request->req.errno; fp@2107: } else { fp@2107: retval = -EIO; fp@2107: } fp@2107: } else { fp@2107: if (request->req.data_size > target_size) { fp@2107: EC_MASTER_ERR(master, "Buffer too small.\n"); fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return -EOVERFLOW; fp@2107: } fp@2107: memcpy(target, request->req.data, request->req.data_size); fp@2107: *result_size = request->req.data_size; fp@2107: retval = 0; fp@2107: } fp@2107: fp@2107: kref_put(&request->refcount, ec_master_sdo_request_release); fp@2107: return retval; fp@2107: } fp@2107: fp@2107: /*****************************************************************************/ fp@2107: fp@1947: int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position, fp@1952: uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size, fp@1952: uint16_t *error_code) fp@1947: { ch1010277@2032: ec_master_soe_request_t* request; fp@1947: int retval; fp@1947: fp@1952: if (drive_no > 7) { fp@1952: EC_MASTER_ERR(master, "Invalid drive number!\n"); fp@1952: return -EINVAL; fp@1952: } fp@1952: ch1010277@2032: request = kmalloc(sizeof(*request), GFP_KERNEL); ch1010277@2032: if (!request) fp@1947: return -ENOMEM; ch1010277@2032: kref_init(&request->refcount); ch1010277@2032: ch1010277@2032: INIT_LIST_HEAD(&request->list); ch1010277@2032: ec_soe_request_init(&request->req); ch1010277@2032: ec_soe_request_set_drive_no(&request->req, drive_no); ch1010277@2032: ec_soe_request_set_idn(&request->req, idn); ch1010277@2032: ch1010277@2032: if (ec_soe_request_alloc(&request->req, data_size)) { ch1010277@2032: ec_soe_request_clear(&request->req); ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); ch1010277@2032: return -ENOMEM; ch1010277@2032: } ch1010277@2032: ch1010277@2032: memcpy(request->req.data, data, data_size); ch1010277@2032: request->req.data_size = data_size; ch1010277@2032: ec_soe_request_write(&request->req); ch1010277@2032: ch1010277@2032: if (ec_mutex_lock_interruptible(&master->master_mutex)) { ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: return -EINTR; ch1010277@2032: } ch1010277@2032: ch1010277@2032: if (!(request->slave = ec_master_find_slave( fp@1947: master, 0, slave_position))) { ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1947: EC_MASTER_ERR(master, "Slave %u does not exist!\n", fp@1947: slave_position); ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: return -EINVAL; fp@1947: } fp@1947: fp@2107: EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE write request %p.\n", fp@2107: request); fp@1947: fp@1947: // schedule SoE write request. ch1010277@2032: list_add_tail(&request->list, &request->slave->soe_requests); ch1010277@2032: kref_get(&request->refcount); fp@1947: ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1947: fp@1947: // wait for processing through FSM ch1010277@2032: if (wait_event_interruptible(request->slave->soe_queue, fp@2107: ((request->req.state == EC_INT_REQUEST_SUCCESS) || fp@2107: (request->req.state == EC_INT_REQUEST_FAILURE)))) { ch1010277@2032: // interrupted by signal ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); ch1010277@2032: return -EINTR; ch1010277@2032: } fp@1947: fp@1947: if (error_code) { ch1010277@2032: *error_code = request->req.error_code; ch1010277@2032: } ch1010277@2032: retval = request->req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: fp@1947: return retval; fp@1947: } fp@1947: fp@1947: /*****************************************************************************/ fp@1947: fp@1947: int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position, fp@1952: uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size, fp@1947: size_t *result_size, uint16_t *error_code) fp@1947: { ch1010277@2032: ec_master_soe_request_t* request; fp@1947: fp@1952: if (drive_no > 7) { fp@1952: EC_MASTER_ERR(master, "Invalid drive number!\n"); fp@1952: return -EINVAL; fp@1952: } fp@1952: ch1010277@2032: request = kmalloc(sizeof(*request), GFP_KERNEL); ch1010277@2032: if (!request) ch1010277@2032: return -ENOMEM; ch1010277@2032: kref_init(&request->refcount); ch1010277@2032: ch1010277@2032: INIT_LIST_HEAD(&request->list); ch1010277@2032: ec_soe_request_init(&request->req); ch1010277@2032: ec_soe_request_set_drive_no(&request->req, drive_no); ch1010277@2032: ec_soe_request_set_idn(&request->req, idn); ch1010277@2032: ec_soe_request_read(&request->req); ch1010277@2032: ch1010277@2032: if (ec_mutex_lock_interruptible(&master->master_mutex)) { ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: return -EINTR; ch1010277@2032: } ch1010277@2032: ch1010277@2032: if (!(request->slave = ec_master_find_slave(master, 0, slave_position))) { ch1010277@2028: ec_mutex_unlock(&master->master_mutex); ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position); fp@1947: return -EINVAL; fp@1947: } fp@1947: fp@1947: // schedule request. ch1010277@2032: list_add_tail(&request->list, &request->slave->soe_requests); ch1010277@2032: kref_get(&request->refcount); fp@1947: ch1010277@2028: ec_mutex_unlock(&master->master_mutex); fp@1947: fp@2107: EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE read request %p.\n", fp@2107: request); fp@1947: fp@1947: // wait for processing through FSM ch1010277@2032: if (wait_event_interruptible(request->slave->soe_queue, fp@2107: ((request->req.state == EC_INT_REQUEST_SUCCESS) || fp@2107: (request->req.state == EC_INT_REQUEST_FAILURE)))) { ch1010277@2032: // interrupted by signal ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); ch1010277@2032: return -EINTR; ch1010277@2032: } fp@1947: fp@1947: if (error_code) { ch1010277@2032: *error_code = request->req.error_code; ch1010277@2032: } ch1010277@2032: fp@2107: EC_SLAVE_DBG(request->slave, 1, "SoE request %p read %zd bytes" fp@2107: " via SoE.\n", request, request->req.data_size); ch1010277@2032: ch1010277@2032: if (request->req.state != EC_INT_REQUEST_SUCCESS) { fp@1947: if (result_size) { fp@1947: *result_size = 0; fp@1947: } ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: return -EIO; fp@1947: } else { ch1010277@2032: if (request->req.data_size > target_size) { fp@1947: EC_MASTER_ERR(master, "Buffer too small.\n"); ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: return -EOVERFLOW; fp@1947: } fp@1947: if (result_size) { ch1010277@2032: *result_size = request->req.data_size; ch1010277@2032: } ch1010277@2032: memcpy(target, request->req.data, request->req.data_size); ch1010277@2032: kref_put(&request->refcount,ec_master_soe_request_release); fp@1947: return 0; fp@1947: } fp@1947: } fp@1947: fp@1947: /*****************************************************************************/ fp@1947: fp@2009: void ecrt_master_reset(ec_master_t *master) fp@2009: { fp@2009: ec_slave_config_t *sc; fp@2009: fp@2009: list_for_each_entry(sc, &master->configs, list) { fp@2009: if (sc->slave) { fp@2009: ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP); fp@2009: } fp@2009: } fp@2009: } fp@2009: fp@2009: /*****************************************************************************/ fp@2009: fp@199: /** \cond */ fp@199: fp@104: EXPORT_SYMBOL(ecrt_master_create_domain); fp@104: EXPORT_SYMBOL(ecrt_master_activate); fp@1530: EXPORT_SYMBOL(ecrt_master_deactivate); fp@325: EXPORT_SYMBOL(ecrt_master_send); fp@325: EXPORT_SYMBOL(ecrt_master_receive); fp@206: EXPORT_SYMBOL(ecrt_master_callbacks); fp@1594: EXPORT_SYMBOL(ecrt_master); fp@1594: EXPORT_SYMBOL(ecrt_master_get_slave); fp@792: EXPORT_SYMBOL(ecrt_master_slave_config); fp@792: EXPORT_SYMBOL(ecrt_master_state); fp@1434: EXPORT_SYMBOL(ecrt_master_application_time); fp@1410: EXPORT_SYMBOL(ecrt_master_sync_reference_clock); fp@1410: EXPORT_SYMBOL(ecrt_master_sync_slave_clocks); fp@1535: EXPORT_SYMBOL(ecrt_master_sync_monitor_queue); fp@1535: EXPORT_SYMBOL(ecrt_master_sync_monitor_process); fp@2107: EXPORT_SYMBOL(ecrt_master_sdo_download); fp@2150: EXPORT_SYMBOL(ecrt_master_sdo_download_complete); fp@2107: EXPORT_SYMBOL(ecrt_master_sdo_upload); fp@1947: EXPORT_SYMBOL(ecrt_master_write_idn); fp@1947: EXPORT_SYMBOL(ecrt_master_read_idn); fp@2009: EXPORT_SYMBOL(ecrt_master_reset); ab@2054: EXPORT_SYMBOL(ecrt_master_find_domain); fp@199: /** \endcond */ fp@199: fp@199: /*****************************************************************************/